Method for operating a powered articulatable surgical instrument

ABSTRACT

A method for operating a surgical instrument. The method includes linking a second drive member to a first drive member such that the second drive member moves with the first drive member. The method further includes applying first control motions to the first drive member to cause the second drive member to apply actuation motions to a surgical end effector. The method also includes discontinuing application of the first control motions to the first drive member and de-linking the second drive member from the first drive member such that the second drive member is locked in place by a locking system. The method also includes re-applying control motions to the first drive member.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation application claiming priority under35 U.S.C. § 120 to U.S. patent application Ser. No. 16/105,081, entitledMETHOD FOR OPERATING A POWERED ARTICULATABLE SURGICAL INSTRUMENT, filedAug. 20, 2018, now U.S. Patent Application Publication No. 2020/0054320,the entire disclosure of which is hereby incorporated by referenceherein.

BACKGROUND

The present invention relates to surgical instruments and, in variousarrangements, to surgical stapling and cutting instruments and staplecartridges for use therewith that are designed to staple and cut tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a perspective view of a powered surgical stapling system;

FIG. 2 is an exploded assembly view of a shaft assembly of the poweredsurgical stapling system of FIG. 1;

FIG. 3 is a cross-sectional view of a portion of the shaft assembly anda surgical end effector of the powered surgical stapling system of FIG.1, with an anvil of the surgical end effector in an open position;

FIG. 4 is a top view of a portion of the shaft assembly and surgical endeffector of FIG. 3 in an unarticulated position;

FIG. 5 is another top view of a portion of the shaft assembly andsurgical end effector of FIG. 3 in an articulated position;

FIG. 6 is an exploded assembly view of a handle or housing of thepowered surgical stapling system of FIG. 1;

FIG. 7 is a cross-sectional view of the handle of FIG. 6 with portionsof the shaft assembly omitted for clarity;

FIG. 8 is an enlarged cross-sectional view of the handle and shaftassembly of FIG. 7;

FIG. 9 is another enlarged cross-sectional view of the handle and shaftassembly of FIG. 7;

FIG. 10 is another side cross-sectional view of the handle and shaftassembly of FIG. 7 in a position that results in the jaws of thesurgical end effector being oriented in an open position;

FIG. 11 is another side cross-sectional view of the handle and shaftassembly of FIG. 7 in a position that results in the closure of the endeffector jaws;

FIG. 12 is a graphical comparison of closure forces between a surgicalinstrument embodiment that employs a progressive closure drive systemand two previous surgical instruments that employ different closuredrive system arrangements;

FIG. 13A is a graphical depiction of a force to fire (FTF) and a forceto close (FTC) experienced by a previous surgical instrument embodimentthat employs camming surfaces on an anvil thereof as a firing member orknife thereof travels through the anvil from a proximal-most startingposition to a distal-most ending position in the anvil (crossheaddistance in inches);

FIG. 13B is a graphical depiction of a force to fire (FTF) and a forceto close (FTC), anvil height and spring height experienced by a surgicalinstrument embodiment that employs a progressive closure drive system;

FIG. 14 is a partial perspective view of a portion of a shaft assembly;

FIG. 15 is a side elevational view of a portion of another poweredsurgical instrument;

FIG. 16 is a partial perspective view of a portion of the poweredsurgical instrument of FIG. 15, with portions thereof omitted forclarity;

FIG. 17 is another partial perspective view of a portion of the poweredsurgical instrument of FIG. 15, with portions thereof omitted forclarity;

FIG. 18 is another partial perspective view of a portion of the poweredsurgical instrument of FIG. 15, with portions thereof omitted forclarity;

FIG. 19 is a perspective view of a motor switch system of the poweredsurgical instrument of FIG. 15, with portions thereof omitted forclarity;

FIG. 20 is a perspective view of a proximal nozzle segment or finsegment of a nozzle assembly of the powered surgical instrument of FIG.15;

FIG. 21 is a partial perspective view of portions of the poweredsurgical instrument of FIG. 15 with a distal nozzle portion omitted forclarity;

FIG. 22 is a side elevational view of portions of a chassis portion anda proximal nozzle segment of the powered surgical instrument of FIG. 15with portions of the nozzle assembly thereof omitted for clarity;

FIG. 23 is a graphic depiction of positions of switches of the switchsystem of FIG. 19 relative to a position of a switch traveler thereof inrelation to an articulated position of an end effector of the poweredsurgical instrument of FIG. 15;

FIG. 24 is another graphic depiction of positions of switches of theswitch system of FIG. 19 relative to another position of the switchtraveler in relation to an articulated position of the end effector ofthe powered surgical instrument of FIG. 15;

FIG. 25 is another graphic depiction of positions of switches of theswitch system of FIG. 19 relative to another position of the switchtraveler in relation to an articulated position of the end effector ofthe powered surgical instrument of FIG. 15;

FIG. 26 is another graphic depiction of positions of switches of theswitch system of FIG. 19 relative to another position of the switchtraveler in relation to an articulated position of the end effector ofthe powered surgical instrument of FIG. 15;

FIG. 27 depicts shapes of portions of three different switch travelerembodiments that may be employed in the switch system of FIG. 19;

FIG. 28 is a graphical comparison of motor speeds for each geometricalswitch traveler shape depicted in FIG. 27 to an articulation angle of asurgical end effector coupled thereto;

FIG. 28A illustrates one form of control circuit that may be employed tocontrol an articulation motor of the powered surgical instrument of FIG.16;

FIG. 29 is a perspective view of another powered surgical staplingsystem;

FIG. 30 is an exploded assembly view of a shaft assembly of the poweredsurgical stapling system of FIG. 29;

FIG. 31 is a perspective view of a portion of a shaft assembly of thepowered surgical stapling system of FIG. 29 with portions thereofomitted for clarity;

FIG. 32A is a top cross-sectional view of a portion of the shaftassembly of FIG. 31 when a closure member thereof is in a retractedposition;

FIG. 32B is another top cross-sectional view of the portion of shaftassembly depicted in FIG. 32 A when the closure member thereof is in anadvanced closure position;

FIG. 33 is a partial cross-sectional perspective view of an articulationlock arrangement;

FIG. 34 is a perspective view of a previous powered surgical staplingsystem that employs a removable shaft assembly;

FIG. 35 is a perspective view of a previous removable shaft assemblydepicted in FIG. 34;

FIG. 36 is an exploded assembly view of a housing or handle portion ofthe powered surgical stapling system of FIG. 34;

FIG. 37 is a partial exploded assembly view of the shaft assembly ofFIG. 35;

FIG. 38 is another partial exploded assembly view of a portion of theshaft assembly of FIG. 35;

FIG. 39 is a perspective view of a portion of another shaft assemblythat may be employed with the handle portion of FIG. 36;

FIG. 40 is a side view of a proximal portion of the shaft assembly ofFIG. 39, with portions thereof omitted for clarity and portions thereofshown in cross-section;

FIG. 41 is an end cross-sectional view of the shaft assembly of FIG. 40taken along lines 41-41 in FIG. 40;

FIG. 42 is an exploded assembly view of a portion of the shaft assemblyof FIG. 39;

FIG. 43 is another exploded assembly view of a portion of the shaftassembly of FIG. 39;

FIG. 44 is a cross-sectional view of a portion of the shaft assembly ofFIG. 39 illustrating an attachment between an articulation driver and aclutch link of the shaft assembly;

FIG. 45 is an exploded perspective view of a portion of the shaftassembly of FIG. 39;

FIG. 46 is a perspective view of a portion of the shaft assembly of FIG.45;

FIG. 47 is a perspective view of a portion of a spine shaft insert ofthe shaft assembly of FIG. 39;

FIG. 48 is another partial cross-sectional perspective view of a portionof the shaft assembly of FIG. 39;

FIG. 49 is a cross-sectional view of a drive clutch assembly of theshaft assembly of FIG. 39 in an engaged position;

FIG. 50 is an end view of the shaft assembly of FIG. 39, with the driveclutch assembly in the engaged position;

FIG. 51 is a rear perspective view of a portion of the shaft assembly ofFIG. 39 illustrating a position of the drive clutch assembly thereofcorresponding to a right articulated position of a surgical end effectorattached thereto;

FIG. 52 is a perspective view of a portion of the shaft assembly of FIG.39 illustrating a position of the drive clutch assembly thereofcorresponding to a left articulated position of a surgical end effectorattached thereto;

FIG. 53 is another cross-sectional view of a drive clutch assembly ofthe shaft assembly of FIG. 39 in a disengaged position;

FIG. 54 is an end view of the shaft assembly of FIG. 39, with the driveclutch assembly in the disengaged position;

FIG. 55 is a partial cross-sectional perspective view of a portion of aninterchangeable shaft assembly embodiment;

FIG. 56 is a partial perspective view of a portion of theinterchangeable shaft assembly of FIG. 55;

FIG. 57 is a partial exploded assembly view of a portion of theinterchangeable shaft assembly of FIGS. 55 and 56;

FIG. 58 is a chart that described various operational steps andparameters during operation of the interchangeable shaft assembly ofFIGS. 55 and 56;

FIG. 59 is another chart describing additional operational steps andparameters during operation of the interchangeable shaft assembly ofFIGS. 55 and 56;

FIG. 60 is a partial perspective view of a shift drum assembly in aposition wherein an articulation system thereof is engaged with a firingdrive system of the shaft assembly of FIGS. 55 and 56;

FIG. 61 is another partial perspective view of the shift drum assemblyin the position depicted in FIG. 60 with a proximal closure tube segmentin a partially advanced position;

FIG. 62 is another partial perspective view of the shift drum assemblyof FIGS. 60 and 61 in a position wherein the articulation system isengaged with the firing drive system;

FIG. 63 is another partial perspective view of the shift drum assemblyin the position depicted in FIG. 62 with the proximal closure tubesegment in a fully retracted position;

FIG. 64 is another partial perspective view of the shift drum assemblyin the position depicted in FIG. 62 with the proximal closure tubesegment in a fully retracted position;

FIG. 65 is another partial perspective view of the shift drum assemblybeing biased proximally by return springs;

FIG. 66 is another partial perspective view of the shift drum assemblywherein the articulation system is engaged with the firing drive systemand the proximal closure tube segment in a fully retracted position;

FIG. 67 is a partial side elevational view of a shaft assembly andhandle assembly of a powered surgical instrument illustrating actuationof a nozzle assembly thereof to disengage an articulation system thereoffrom a firing system thereof;

FIG. 68 is a partial perspective view of a portion of the shaft assemblyof FIG. 67 wherein the articulation system is engaged with a firingdrive system;

FIG. 69 is another partial perspective view of a portion of the shaftassembly of FIG. 68 wherein the articulation system has disengaged thefiring drive system;

FIG. 70 is a side elevational view of a portion of another shaftassembly embodiment with a proximal closure tube segment thereof in afully retracted position and an articulation system thereof n engagementwith a firing system thereof;

FIG. 71 is a cross-sectional view of the portion of the shaft assemblyof FIG. 70 taken along line 71-71 in FIG. 70;

FIG. 72 is a partial side view of a portion of the proximal closure tubesegment of the shaft assembly of FIGS. 70 and 71;

FIG. 73 is another side view of a portion of the proximal closure tubesegment of the shaft assembly of FIGS. 70 and 71 with a drum shifter pinillustrated in a closure slot in the closure tube segment;

FIG. 74 is a is another side view of a portion of the proximal closuretube segment of the shaft assembly of FIGS. 70-72 with the drum shifterpin illustrated midway in the closure slot in the closure tube segment;

FIG. 75 is a side elevational view of a portion of another shaftassembly embodiment wherein a proximal closure tube segment thereof hasbeen distally advanced to a point wherein tabs thereon are in contactwith a shift drum assembly thereof;

FIG. 76 is a partial side view of a portion of the proximal closure tubesegment of the shaft assembly of FIG. 75;

FIG. 77 is a cross-sectional end view through a portion of the shaftassembly of FIG. 75;

FIG. 78 is another side elevational view of the shaft assembly of FIG.75 with a shifter key thereof in a “riding mode” position;

FIG. 79 is a perspective view of a portion of another powered surgicalinstrument;

FIG. 80 is a partial top view of a portion of a flexible circuitassembly of the powered surgical instrument of FIG. 79;

FIG. 81 is a cross-sectional view of a portion of the flexible circuitassembly of FIG. 80 taken along line 81-81 in FIG. 80;

FIG. 82 is another cross-sectional view of a portion of the flexiblecircuit assembly of FIG. 80 taken along line 82-82 in FIG. 80;

FIG. 83 is a partial exploded assembly view of a portion of the flexiblecircuit assembly of FIG. 80 and a portion of a spine shaft of the powersurgical instrument of FIG. 79;

FIG. 84 is a partial perspective view of a portion of a shaft assemblyembodiment with a portion of a nozzle assembly omitted for clarity andwith a proximal closure tube segment thereof in a fully retractedposition;

FIG. 85 is another partial perspective view of a portion of a shaftassembly embodiment of FIG. 84 with the proximal closure tube segmentthereof in a fully advanced position;

FIG. 86 is an exploded assembly view of a portion of the shaft assemblyof FIGS. 84 and 85;

FIG. 87 is a cross-sectional end view of a portion of the shaft assemblyof FIGS. 84-86 with a lock sleeve thereof in engagement with anintermediate firing member thereof;

FIG. 88 is a cross-sectional side elevational view of a portion of theshaft assembly of FIGS. 84 and 85, with a proximal articulation driverthereof in an unactuated position;

FIG. 89 is another cross-sectional side elevational view of a portion ofthe shaft assembly of FIGS. 84 and 85, with a proximal articulationdriver thereof in a fully actuated position;

FIG. 90 is another cross-sectional end view of a portion of the shaftassembly of FIGS. 84-86 with the lock sleeve thereof disengaged from theintermediate firing member thereof; and

FIG. 91 is a partial perspective view of the shaft assembly of FIGS. 84and 85 with portions thereof omitted for clarity.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following U.S. patentapplications that were filed on Aug. 20, 2018 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 16/105,101, entitled METHOD FOR        FABRICATING SURGICAL STAPLER ANVILS, now U.S. Pat. No.        11,207,065;    -   U.S. patent application Ser. No. 16/105,183, entitled REINFORCED        DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL, now U.S. Pat.        No. 10,912,559;    -   U.S. patent application Ser. No. 16/105,150, entitled SURGICAL        STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSIONS AND TISSUE        STABILITY FEATURES, now U.S. Pat. No. 11,039,834;    -   U.S. patent application Ser. No. 16/105,098, entitled        FABRICATING TECHNIQUES FOR SURGICAL STAPLER ANVILS, now U.S.        Pat. No. 11,045,192;    -   U.S. patent application Ser. No. 16/105,122, entitled SURGICAL        STAPLING DEVICES WITH IMPROVED CLOSURE MEMBERS, now U.S. Patent        Application Publication No. 2020/0054324;    -   U.S. patent application Ser. No. 16/105,140, entitled SURGICAL        STAPLER ANVILS WITH TISSUE STOP FEATURES CONFIGURED TO AVOID        TISSUE PINCH, now U.S. Pat. No. 10,779,821;    -   U.S. patent application Ser. No. 16/105,094, entitled SURGICAL        INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS, now U.S.        Patent Application Publication No. 2020/0054321;    -   U.S. patent application Ser. No. 16/105,097, entitled POWERED        SURGICAL INSTRUMENTS WITH CLUTCHING ARRANGEMENTS TO CONVERT        LINEAR DRIVE MOTIONS TO ROTARY DRIVE MOTIONS, now U.S. Pat. No.        11,083,458;    -   U.S. patent application Ser. No. 16/105,104, entitled POWERED        ARTICULATABLE SURGICAL INSTRUMENTS WITH CLUTCHING AND LOCKING        ARRANGEMENTS FOR LINKING AN ARTICULATION DRIVE SYSTEM TO A        FIRING DRIVE SYSTEM, now U.S. Pat. No. 10,842,492;    -   U.S. patent application Ser. No. 16/105,119, entitled        ARTICULATABLE MOTOR POWERED SURGICAL INSTRUMENTS WITH DEDICATED        ARTICULATION MOTOR ARRANGEMENTS, now U.S. Patent Application        Publication No. 2020/0054330;    -   U.S. patent application Ser. No. 16/105,160, entitled SWITCHING        ARRANGEMENTS FOR MOTOR POWERED ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,856,870; and    -   U.S. Design patent application Serial No. 29/660,252, entitled        SURGICAL INSTRUMENT ANVIL, now U.S. Design Pat. No. D914,878.

Applicant of the present application owns the following U.S. patentapplications and U.S. patents that are each herein incorporated byreference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/386,185, entitled SURGICAL        STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF,        U.S. Patent Application Publication No. 2018/0168642;    -   U.S. patent application Ser. No. 15/386,230, entitled        ARTICULATABLE SURGICAL STAPLING INSTRUMENTS, U.S. Patent        Application Publication No. 2018/0168649;    -   U.S. patent application Ser. No. 15/386,221, entitled LOCKOUT        ARRANGEMENTS FOR SURGICAL END EFFECTORS, U.S. Pat. No.        10,835,247;    -   U.S. patent application Ser. No. 15/386,209, entitled SURGICAL        END EFFECTORS AND FIRING MEMBERS THEREOF, U.S. Patent        Application Publication No. 2018/0168645;    -   U.S. patent application Ser. No. 15/386,198, entitled LOCKOUT        ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL        ASSEMBLIES, U.S. Patent Application Publication No.        2018/0168644;    -   U.S. patent application Ser. No. 15/386,240, entitled SURGICAL        END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR, U.S. Patent        Application Publication No. 2018/0168651;    -   U.S. patent application Ser. No. 15/385,939, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, U.S. Patent Application Publication No. 2018/0168629;    -   U.S. patent application Ser. No. 15/385,941, entitled SURGICAL        TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN        CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND        ARTICULATION AND FIRING SYSTEMS, U.S. Patent Application        Publication No. 2018/0168630;    -   U.S. patent application Ser. No. 15/385,943, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, U.S. Patent        Application Publication No. 2018/0168631;    -   U.S. patent application Ser. No. 15/385,950, entitled SURGICAL        TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES, U.S.        Patent Application Publication No. 2018/0168635;    -   U.S. patent application Ser. No. 15/385,945, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN; U.S. Patent Application Publication No. 2018/0168632;    -   U.S. patent application Ser. No. 15/385,946, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, U.S. Patent        Application Publication No. 2018/0168633;    -   U.S. patent application Ser. No. 15/385,951, entitled SURGICAL        INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW        OPENING DISTANCE, U.S. Patent Application Publication No.        2018/0168636;    -   U.S. patent application Ser. No. 15/385,953, entitled METHODS OF        STAPLING TISSUE, U.S. Patent Application Publication No.        2018/0168637;    -   U.S. patent application Ser. No. 15/385,954, entitled FIRING        MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL        END EFFECTORS, U.S. Patent Application Publication No.        2018/0168638;    -   U.S. patent application Ser. No. 15/385,955, entitled SURGICAL        END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS, U.S.        Patent Application Publication No. 2018/0168639;    -   U.S. patent application Ser. No. 15/385,948, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, U.S. Patent        Application Publication No. 2018/0168584;    -   U.S. patent application Ser. No. 15/385,956, entitled SURGICAL        INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES, U.S. Patent        Application Publication No. 2018/0168640;    -   U.S. patent application Ser. No. 15/385,958, entitled SURGICAL        INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING        SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT,        U.S. Patent Application Publication No. 2018/0168641;    -   U.S. patent application Ser. No. 15/385,947, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, U.S. Patent Application Publication No. 2018/0168634;    -   U.S. patent application Ser. No. 15/385,896, entitled METHOD FOR        RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT, U.S. Patent        Application Publication No. 2018/0168597;    -   U.S. patent application Ser. No. 15/385,898, entitled        STAPLE-FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES        OF STAPLES, U.S. Patent Application Publication No.        2018/0168599;    -   U.S. patent application Ser. No. 15/385,899, entitled SURGICAL        INSTRUMENT COMPRISING IMPROVED JAW CONTROL, U.S. Patent        Application Publication No. 2018/0168600;    -   U.S. patent application Ser. No. 15/385,901, entitled STAPLE        CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS        DEFINED THEREIN, U.S. Patent Application Publication No.        2018/0168602;    -   U.S. patent application Ser. No. 15/385,902, entitled SURGICAL        INSTRUMENT COMPRISING A CUTTING MEMBER, U.S. Patent Application        Publication No. 2018/0168603;    -   U.S. patent application Ser. No. 15/385,904, entitled STAPLE        FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT        CARTRIDGE LOCKOUT, U.S. Patent Application Publication No.        2018/0168605;    -   U.S. patent application Ser. No. 15/385,905, entitled FIRING        ASSEMBLY COMPRISING A LOCKOUT, U.S. Patent Application        Publication No. 2018/0168606;    -   U.S. patent application Ser. No. 15/385,907, entitled SURGICAL        INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A        FIRING ASSEMBLY LOCKOUT, U.S. Patent Application Publication No.        2018/0168608;    -   U.S. patent application Ser. No. 15/385,908, entitled FIRING        ASSEMBLY COMPRISING A FUSE, U.S. Patent Application Publication        No. 2018/0168609;    -   U.S. patent application Ser. No. 15/385,909, entitled FIRING        ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE, U.S. Patent        Application Publication No. 2018/0168610;    -   U.S. patent application Ser. No. 15/385,920, entitled        STAPLE-FORMING POCKET ARRANGEMENTS, U.S. Patent Application        Publication No. 2018/0168620;    -   U.S. patent application Ser. No. 15/385,913, entitled ANVIL        ARRANGEMENTS FOR SURGICAL STAPLERS, U.S. Patent Application        Publication No. 2018/0168614;    -   U.S. patent application Ser. No. 15/385,914, entitled METHOD OF        DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES        WITH THE SAME SURGICAL STAPLING INSTRUMENT, U.S. Patent        Application Publication No. 2018/0168615;    -   U.S. patent application Ser. No. 15/385,893, entitled        BILATERALLY ASYMMETRIC STAPLE-FORMING POCKET PAIRS, U.S. Patent        Application Publication No. 2018/0168594;    -   U.S. patent application Ser. No. 15/385,929, entitled CLOSURE        MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS        WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS, U.S.        Patent Application Publication No. 2018/0168626;    -   U.S. patent application Ser. No. 15/385,911, entitled SURGICAL        STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING        SYSTEMS, U.S. Patent Application Publication No. 2018/0168612;    -   U.S. patent application Ser. No. 15/385,927, entitled SURGICAL        STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES, U.S. Patent        Application Publication No. 2018/0168625;    -   U.S. patent application Ser. No. 15/385,917, entitled STAPLE        CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS,        U.S. Patent Application Publication No. 2018/0168617;    -   U.S. patent application Ser. No. 15/385,900, entitled        STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS        AND POCKET SIDEWALLS, U.S. Patent Application Publication No.        2018/0168601;    -   U.S. patent application Ser. No. 15/385,931, entitled        NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR        SURGICAL STAPLERS, U.S. Patent Application Publication No.        2018/0168627;    -   U.S. patent application Ser. No. 15/385,915, entitled FIRING        MEMBER PIN ANGLE, U.S. Patent Application Publication No.        2018/0168616;    -   U.S. patent application Ser. No. 15/385,897, entitled        STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING        SURFACE GROOVES, U.S. Patent Application Publication No.        2018/0168598;    -   U.S. patent application Ser. No. 15/385,922, entitled SURGICAL        INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES, U.S. Patent        Application Publication No. 2018/0168622;    -   U.S. patent application Ser. No. 15/385,924, entitled SURGICAL        INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS, U.S. Patent        Application Publication No. 2018/0168624;    -   U.S. patent application Ser. No. 15/385,910, entitled ANVIL        HAVING A KNIFE SLOT WIDTH, U.S. Patent Application Publication        No. 2018/0168611;    -   U.S. patent application Ser. No. 15/385,903, entitled CLOSURE        MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS, U.S. Patent        Application Publication No. 2018/0168604;    -   U.S. patent application Ser. No. 15/385,906, entitled FIRING        MEMBER PIN CONFIGURATIONS, U.S. Patent Application Publication        No. 2018/0168607;    -   U.S. patent application Ser. No. 15/386,188, entitled STEPPED        STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES, U.S. Patent        Application Publication No. 2018/0168585;    -   U.S. patent application Ser. No. 15/386,192, entitled STEPPED        STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES,        U.S. Patent Application Publication No. 2018/0168643;    -   U.S. patent application Ser. No. 15/386,206, entitled STAPLE        CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES, U.S. Patent        Application Publication No. 2018/0168586;    -   U.S. patent application Ser. No. 15/386,226, entitled DURABILITY        FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL        STAPLING INSTRUMENTS, U.S. Patent Application Publication No.        2018/0168648;    -   U.S. patent application Ser. No. 15/386,222, entitled SURGICAL        STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING        FEATURES, U.S. Patent Application Publication No. 2018/0168647;    -   U.S. patent application Ser. No. 15/386,236, entitled CONNECTION        PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING        INSTRUMENTS, U.S. Patent Application Publication No.        2018/0168650;    -   U.S. patent application Ser. No. 15/385,887, entitled METHOD FOR        ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND,        ALTERNATIVELY, TO A SURGICAL ROBOT, U.S. Patent Application        Publication No. 2018/0168589;    -   U.S. patent application Ser. No. 15/385,889, entitled SHAFT        ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR        USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM, U.S. Patent        Application Publication No. 2018/0168590;    -   U.S. patent application Ser. No. 15/385,890, entitled SHAFT        ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE        SYSTEMS, U.S. Patent Application Publication No. 2018/0168591;    -   U.S. patent application Ser. No. 15/385,891, entitled SHAFT        ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A        ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS, U.S. Patent        Application Publication No. 2018/0168592;    -   U.S. patent application Ser. No. 15/385,892, entitled SURGICAL        SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION        STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM, U.S.        Patent Application Publication No. 2018/0168593;    -   U.S. patent application Ser. No. 15/385,894, entitled SHAFT        ASSEMBLY COMPRISING A LOCKOUT, U.S. Patent Application        Publication No. 2018/0168595;    -   U.S. patent application Ser. No. 15/385,895, entitled SHAFT        ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS, U.S.        Patent Application Publication No. 2018/0168596;    -   U.S. patent application Ser. No. 15/385,916, entitled SURGICAL        STAPLING SYSTEMS, U.S. Patent Application Publication No.        2018/0168575;    -   U.S. patent application Ser. No. 15/385,918, entitled SURGICAL        STAPLING SYSTEMS, U.S. Patent Application Publication No.        2018/0168618;    -   U.S. patent application Ser. No. 15/385,919, entitled SURGICAL        STAPLING SYSTEMS, U.S. Patent Application Publication No.        2018/0168619;    -   U.S. patent application Ser. No. 15/385,921, entitled SURGICAL        STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO        DISENGAGE FIRING MEMBER LOCKOUT FEATURES, U.S. Patent        Application Publication No. 2018/0168621;    -   U.S. patent application Ser. No. 15/385,923, entitled SURGICAL        STAPLING SYSTEMS, U.S. Patent Application Publication No.        2018/0168623;    -   U.S. patent application Ser. No. 15/385,925, entitled JAW        ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A        FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED        CARTRIDGE IS INSTALLED IN THE END EFFECTOR, U.S. Patent        Application Publication No. 2018/0168576;    -   U.S. patent application Ser. No. 15/385,926, entitled AXIALLY        MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS        TO JAWS OF SURGICAL INSTRUMENTS, U.S. Patent Application        Publication No. 2018/0168577;    -   U.S. patent application Ser. No. 15/385,928, entitled PROTECTIVE        COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW        AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT, U.S. Patent        Application Publication No. 2018/0168578;    -   U.S. patent application Ser. No. 15/385,930, entitled SURGICAL        END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR        OPENING AND CLOSING END EFFECTOR JAWS, U.S. Patent Application        Publication No. 2018/0168579;    -   U.S. patent application Ser. No. 15/385,932, entitled        ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT        ARRANGEMENT, U.S. Patent Application Publication No.        2018/0168628;    -   U.S. patent application Ser. No. 15/385,933, entitled        ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE        LINKAGE DISTAL OF AN ARTICULATION LOCK, U.S. Patent Application        Publication No. 2018/0168580;    -   U.S. patent application Ser. No. 15/385,934, entitled        ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN        ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE        SYSTEM, U.S. Patent Application Publication No. 2018/0168581;    -   U.S. patent application Ser. No. 15/385,935, entitled LATERALLY        ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END        EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED        CONFIGURATION, U.S. Patent Application Publication No.        2018/0168582;    -   U.S. patent application Ser. No. 15/385,936, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE        AMPLIFICATION FEATURES, U.S. Pat. No. 10,517,596;    -   U.S. patent application Ser. No. 14/318,996, entitled FASTENER        CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS,        U.S. Patent Application Publication No. 2015/0297228;    -   U.S. patent application Ser. No. 14/319,006, entitled FASTENER        CARTRIDGE COMPRISING FASTENER CAVITIES INCLUDING FASTENER        CONTROL FEATURES, Now U.S. Pat. No. 10,010,324;    -   U.S. patent application Ser. No. 14/318,991, entitled SURGICAL        FASTENER CARTRIDGES WITH DRIVER STABILIZING ARRANGEMENTS, now        U.S. Pat. No. 9,833,241;    -   U.S. patent application Ser. No. 14/319,004, entitled SURGICAL        END EFFECTORS WITH FIRING ELEMENT MONITORING ARRANGEMENTS, now        U.S. Pat. No. 9,844,369;    -   U.S. patent application Ser. No. 14/319,008, entitled FASTENER        CARTRIDGE COMPRISING NON-UNIFORM FASTENERS, U.S. Patent        Application Publication No. 2015/0297232;    -   U.S. patent application Ser. No. 14/318,997, entitled FASTENER        CARTRIDGE COMPRISING DEPLOYABLE TISSUE ENGAGING MEMBERS, U.S.        Patent Application Publication No. 2015/0297229;    -   U.S. patent application Ser. No. 14/319,002, entitled FASTENER        CARTRIDGE COMPRISING TISSUE CONTROL FEATURES, now U.S. Pat. No.        9,877,721;    -   U.S. patent application Ser. No. 14/319,013, entitled FASTENER        CARTRIDGE ASSEMBLIES AND STAPLE RETAINER COVER ARRANGEMENTS,        U.S. Patent Application Publication No. 2015/0297233; and    -   U.S. patent application Ser. No. 14/319,016, entitled FASTENER        CARTRIDGE INCLUDING A LAYER ATTACHED THERETO, U.S. Patent        Application Publication No. 2015/0297235.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/191,775, entitled STAPLE        CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES;    -   U.S. patent application Ser. No. 15/191,807, entitled STAPLING        SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES;    -   U.S. patent application Ser. No. 15/191,834, entitled STAMPED        STAPLES AND STAPLE CARTRIDGES USING THE SAME;    -   U.S. patent application Ser. No. 15/191,788, entitled STAPLE        CARTRIDGE COMPRISING OVERDRIVEN STAPLES; and    -   U.S. patent application Ser. No. 15/191,818, entitled STAPLE        CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. Design patent application Serial No. 29/569,218, entitled        SURGICAL FASTENER;    -   U.S. Design patent application Serial No. 29/569,227, entitled        SURGICAL FASTENER;    -   U.S. Design patent application Serial No. 29/569,259, entitled        SURGICAL FASTENER CARTRIDGE; and    -   U.S. Design patent application Serial No. 29/569,264, entitled        SURGICAL FASTENER CARTRIDGE.

Applicant of the present application owns the following patentapplications that were filed on Apr. 1, 2016 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/089,325, entitled METHOD FOR        OPERATING A SURGICAL STAPLING SYSTEM;    -   U.S. patent application Ser. No. 15/089,321, entitled MODULAR        SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY;    -   U.S. patent application Ser. No. 15/089,326, entitled SURGICAL        STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE        DISPLAY FIELD;    -   U.S. patent application Ser. No. 15/089,263, entitled SURGICAL        INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION;    -   U.S. patent application Ser. No. 15/089,262, entitled ROTARY        POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT        SYSTEM;    -   U.S. patent application Ser. No. 15/089,277, entitled SURGICAL        CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE        MEMBER;    -   U.S. patent application Ser. No. 15/089,296, entitled        INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END        EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS;    -   U.S. patent application Ser. No. 15/089,258, entitled SURGICAL        STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION;    -   U.S. patent application Ser. No. 15/089,278, entitled SURGICAL        STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF        TISSUE;    -   U.S. patent application Ser. No. 15/089,284, entitled SURGICAL        STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT;    -   U.S. patent application Ser. No. 15/089,295, entitled SURGICAL        STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT;    -   U.S. patent application Ser. No. 15/089,300, entitled SURGICAL        STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT;    -   U.S. patent application Ser. No. 15/089,196, entitled SURGICAL        STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT;    -   U.S. patent application Ser. No. 15/089,203, entitled SURGICAL        STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT;    -   U.S. patent application Ser. No. 15/089,210, entitled SURGICAL        STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT;    -   U.S. patent application Ser. No. 15/089,324, entitled SURGICAL        INSTRUMENT COMPRISING A SHIFTING MECHANISM;    -   U.S. patent application Ser. No. 15/089,335, entitled SURGICAL        STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS;    -   U.S. patent application Ser. No. 15/089,339, entitled SURGICAL        STAPLING INSTRUMENT;    -   U.S. patent application Ser. No. 15/089,253, entitled SURGICAL        STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES        HAVING DIFFERENT HEIGHTS;    -   U.S. patent application Ser. No. 15/089,304, entitled SURGICAL        STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET;    -   U.S. patent application Ser. No. 15/089,331, entitled ANVIL        MODIFICATION MEMBERS FOR SURGICAL STAPLERS;    -   U.S. patent application Ser. No. 15/089,336, entitled STAPLE        CARTRIDGES WITH ATRAUMATIC FEATURES;    -   U.S. patent application Ser. No. 15/089,312, entitled CIRCULAR        STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT;    -   U.S. patent application Ser. No. 15/089,309, entitled CIRCULAR        STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM; and    -   U.S. patent application Ser. No. 15/089,349, entitled CIRCULAR        STAPLING SYSTEM COMPRISING LOAD CONTROL.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Dec. 31, 2015 whichare each herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/984,488, entitled MECHANISMS        FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL        INSTRUMENTS;    -   U.S. patent application Ser. No. 14/984,525, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS; and    -   U.S. patent application Ser. No. 14/984,552, entitled SURGICAL        INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Feb. 9, 2016 which areeach herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/019,220, entitled SURGICAL        INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END        EFFECTOR;    -   U.S. patent application Ser. No. 15/019,228, entitled SURGICAL        INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS;    -   U.S. patent application Ser. No. 15/019,196, entitled SURGICAL        INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY        CONSTRAINT;    -   U.S. patent application Ser. No. 15/019,206, entitled SURGICAL        INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE        RELATIVE TO AN ELONGATED SHAFT ASSEMBLY;    -   U.S. patent application Ser. No. 15/019,215, entitled SURGICAL        INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS;    -   U.S. patent application Ser. No. 15/019,227, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK        ARRANGEMENTS;    -   U.S. patent application Ser. No. 15/019,235, entitled SURGICAL        INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN        ARTICULATION SYSTEMS;    -   U.S. patent application Ser. No. 15/019,230, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM        ARRANGEMENTS; and    -   U.S. patent application Ser. No. 15/019,245, entitled SURGICAL        INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Feb. 12, 2016 whichare each herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/043,254, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS;    -   U.S. patent application Ser. No. 15/043,259, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS;    -   U.S. patent application Ser. No. 15/043,275, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS; and    -   U.S. patent application Ser. No. 15/043,289, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS.

Applicant of the present application owns the following patentapplications that were filed on Jun. 18, 2015 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/742,925, entitled SURGICAL        END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS;    -   U.S. patent application Ser. No. 14/742,941, entitled SURGICAL        END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES;    -   U.S. patent application Ser. No. 14/742,914, entitled MOVABLE        FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL        INSTRUMENTS;    -   U.S. patent application Ser. No. 14/742,900, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM        STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION        SUPPORT;    -   U.S. patent application Ser. No. 14/742,885, entitled DUAL        ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE        SURGICAL INSTRUMENTS; and    -   U.S. patent application Ser. No. 14/742,876, entitled PUSH/PULL        ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL        INSTRUMENTS.

Applicant of the present application owns the following patentapplications that were filed on Mar. 6, 2015 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/640,746, entitled POWERED        SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.        2016/0256184;    -   U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE        LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2016/02561185;    -   U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE        TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR        MULTIPLE TISSUE TYPES, now U.S. Patent Application Publication        No. 2016/0256154;    -   U.S. patent application Ser. No. 14/640,935, entitled OVERLAID        MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE        TISSUE COMPRESSION, now U.S. Patent Application Publication No.        2016/0256071;    -   U.S. patent application Ser. No. 14/640,831, entitled MONITORING        SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED        SURGICAL INSTRUMENTS, now U.S. Patent Application Publication        No. 2016/0256153;    -   U.S. patent application Ser. No. 14/640,859, entitled TIME        DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY,        CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES, now U.S. Patent        Application Publication No. 2016/0256187;    -   U.S. patent application Ser. No. 14/640,817, entitled        INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS,        now U.S. Patent Application Publication No. 2016/0256186;    -   U.S. patent application Ser. No. 14/640,844, entitled CONTROL        TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH        SELECT CONTROL PROCESSING FROM HANDLE, now U.S. Patent        Application Publication No. 2016/0256155;    -   U.S. patent application Ser. No. 14/640,837, entitled SMART        SENSORS WITH LOCAL SIGNAL PROCESSING, now U.S. Patent        Application Publication No. 2016/0256163;    -   U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FOR        DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A        SURGICAL STAPLER, now U.S. Patent Application Publication No.        2016/0256160;    -   U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND        POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now        U.S. Patent Application Publication No. 2016/0256162; and    -   U.S. patent application Ser. No. 14/640,780, entitled SURGICAL        INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S.        Patent Application Publication No. 2016/0256161.

Applicant of the present application owns the following patentapplications that were filed on Feb. 27, 2015, and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/633,576, entitled SURGICAL        INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S.        Patent Application Publication No. 2016/0249919;    -   U.S. patent application Ser. No. 14/633,546, entitled SURGICAL        APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER        OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE        BAND, now U.S. Patent Application Publication No. 2016/0249915;    -   U.S. patent application Ser. No. 14/633,560, entitled SURGICAL        CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE        BATTERIES, now U.S. Patent Application Publication No.        2016/0249910;    -   U.S. patent application Ser. No. 14/633,566, entitled CHARGING        SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A        BATTERY, now U.S. Patent Application Publication No.        2016/0249918;    -   U.S. patent application Ser. No. 14/633,555, entitled SYSTEM FOR        MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED,        now U.S. Patent Application Publication No. 2016/0249916;    -   U.S. patent application Ser. No. 14/633,542, entitled REINFORCED        BATTERY FOR A SURGICAL INSTRUMENT, now U.S. Patent Application        Publication No. 2016/0249908;    -   U.S. patent application Ser. No. 14/633,548, entitled POWER        ADAPTER FOR A SURGICAL INSTRUMENT, now U.S. Patent Application        Publication No. 2016/0249909;    -   U.S. patent application Ser. No. 14/633,526, entitled ADAPTABLE        SURGICAL INSTRUMENT HANDLE, now U.S. Patent Application        Publication No. 2016/0249945;    -   U.S. patent application Ser. No. 14/633,541, entitled MODULAR        STAPLING ASSEMBLY, now U.S. Patent Application Publication No.        2016/0249927; and    -   U.S. patent application Ser. No. 14/633,562, entitled SURGICAL        APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S.        Patent Application Publication No. 2016/0249917.

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/574,478, entitled SURGICAL        INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND        MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now        U.S. Patent Application Publication No. 2016/0174977;    -   U.S. patent application Ser. No. 14/574,483, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Patent        Application Publication No. 2016/0174969;    -   U.S. patent application Ser. No. 14/575,139, entitled DRIVE        ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S.        Patent Application Publication No. 2016/0174978;    -   U.S. patent application Ser. No. 14/575,148, entitled LOCKING        ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE        SURGICAL END EFFECTORS, now U.S. Patent Application Publication        No. 2016/0174976;    -   U.S. patent application Ser. No. 14/575,130, entitled SURGICAL        INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A        DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now        U.S. Patent Application Publication No. 2016/0174972;    -   U.S. patent application Ser. No. 14/575,143, entitled SURGICAL        INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Patent        Application Publication No. 2016/0174983;    -   U.S. patent application Ser. No. 14/575,117, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Patent Application        Publication No. 2016/0174975;    -   U.S. patent application Ser. No. 14/575,154, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Patent Application        Publication No. 2016/0174973;    -   U.S. patent application Ser. No. 14/574,493, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM,        now U.S. Patent Application Publication No. 2016/0174970; and    -   U.S. patent application Ser. No. 14/574,500, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM,        now U.S. Patent Application Publication No. 2016/0174971.

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 13/782,295, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR        SIGNAL COMMUNICATION, now U.S. Patent Application Publication        No. 2014/0246471;    -   U.S. patent application Ser. No. 13/782,323, entitled ROTARY        POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S.        Patent Application Publication No. 2014/0246472;    -   U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL        SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent        Application Publication No. 2014/0249557;    -   U.S. patent application Ser. No. 13/782,499, entitled        ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT,        now U.S. Pat. No. 9,358,003;    -   U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE        PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Patent Application Publication No. 2014/0246478;    -   U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK        SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.        9,326,767;    -   U.S. patent application Ser. No. 13/782,481, entitled SENSOR        STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now        U.S. Pat. No. 9,468,438;    -   U.S. patent application Ser. No. 13/782,518, entitled CONTROL        METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT        PORTIONS, now U.S. Patent Application Publication No.        2014/0246475;    -   U.S. patent application Ser. No. 13/782,375, entitled ROTARY        POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM,        now U.S. Pat. No. 9,398,911; and    -   U.S. patent application Ser. No. 13/782,536, entitled SURGICAL        INSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 13/803,097, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now        U.S. Patent Application Publication No. 2014/0263542;    -   U.S. patent application Ser. No. 13/803,193, entitled CONTROL        ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now        U.S. Pat. No. 9,332,987;    -   U.S. patent application Ser. No. 13/803,053, entitled        INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL        INSTRUMENT, now U.S. Patent Application Publication No.        2014/0263564;    -   U.S. patent application Ser. No. 13/803,086, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION        LOCK, now U.S. Patent Application Publication No. 2014/0263541;    -   U.S. patent application Ser. No. 13/803,210, entitled SENSOR        ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2014/0263538;    -   U.S. patent application Ser. No. 13/803,148, entitled        MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2014/0263554;    -   U.S. patent application Ser. No. 13/803,066, entitled DRIVE        SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS,        now U.S. Patent Application Publication No. 2014/0263565;    -   U.S. patent application Ser. No. 13/803,117, entitled        ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 9,351,726;    -   U.S. patent application Ser. No. 13/803,130, entitled DRIVE        TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Pat. No. 9,351,727; and    -   U.S. patent application Ser. No. 13/803,159, entitled METHOD AND        SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2014/0277017.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

-   -   U.S. patent application Ser. No. 14/200,111, entitled CONTROL        SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application        Publication No. 2014/0263539.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/226,106, entitled POWER        MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.        Patent Application Publication No. 2015/0272582;    -   U.S. patent application Ser. No. 14/226,099, entitled        STERILIZATION VERIFICATION CIRCUIT, now U.S. Patent Application        Publication No. 2015/0272581;    -   U.S. patent application Ser. No. 14/226,094, entitled        VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now        U.S. Patent Application Publication No. 2015/0272580;    -   U.S. patent application Ser. No. 14/226,117, entitled POWER        MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE        UP CONTROL, now U.S. Patent Application Publication No.        2015/0272574;    -   U.S. patent application Ser. No. 14/226,075, entitled MODULAR        POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES,        now U.S. Patent Application Publication No. 2015/0272579;    -   U.S. patent application Ser. No. 14/226,093, entitled FEEDBACK        ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS,        now U.S. Patent Application Publication No. 2015/0272569;    -   U.S. patent application Ser. No. 14/226,116, entitled SURGICAL        INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent        Application Publication No. 2015/0272571;    -   U.S. patent application Ser. No. 14/226,071, entitled SURGICAL        INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S.        Patent Application Publication No. 2015/0272578;    -   U.S. patent application Ser. No. 14/226,097, entitled SURGICAL        INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Patent        Application Publication No. 2015/0272570;    -   U.S. patent application Ser. No. 14/226,126, entitled INTERFACE        SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Patent        Application Publication No. 2015/0272572;    -   U.S. patent application Ser. No. 14/226,133, entitled MODULAR        SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application        Publication No. 2015/0272557;    -   U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS        AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Patent        Application Publication No. 2015/0277471;    -   U.S. patent application Ser. No. 14/226,076, entitled POWER        MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE        PROTECTION, now U.S. Patent Application Publication No.        2015/0280424;    -   U.S. patent application Ser. No. 14/226,111, entitled SURGICAL        STAPLING INSTRUMENT SYSTEM, now U.S. Patent Application        Publication No. 2015/0272583; and    -   U.S. patent application Ser. No. 14/226,125, entitled SURGICAL        INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Patent        Application Publication No. 2015/0280384.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY        AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Patent        Application Publication No. 2016/0066912;    -   U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT        WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S.        Patent Application Publication No. 2016/0066914;    -   U.S. patent application Ser. No. 14/478,908, entitled MONITORING        DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S.        Patent Application Publication No. 2016/0066910;    -   U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE        SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR        INTERPRETATION, now U.S. Patent Application Publication No.        2016/0066909;    -   U.S. patent application Ser. No. 14/479,110, entitled POLARITY        OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE, now U.S. Patent        Application Publication No. 2016/0066915;    -   U.S. patent application Ser. No. 14/479,098, entitled SMART        CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Patent        Application Publication No. 2016/0066911;    -   U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE        MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Patent        Application Publication No. 2016/0066916; and    -   U.S. patent application Ser. No. 14/479,108, entitled LOCAL        DISPLAY OF TISSUE PARAMETER STABILIZATION, now U.S. Patent        Application Publication No. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/248,590, entitled MOTOR        DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now        U.S. Patent Application Publication No. 2014/0305987;    -   U.S. patent application Ser. No. 14/248,581, entitled SURGICAL        INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE        OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Patent        Application Publication No. 2014/0305989;    -   U.S. patent application Ser. No. 14/248,595, entitled SURGICAL        INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE        OPERATION OF THE SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2014/0305988;    -   U.S. patent application Ser. No. 14/248,588, entitled POWERED        LINEAR SURGICAL STAPLER, now U.S. Patent Application Publication        No. 2014/0309666;    -   U.S. patent application Ser. No. 14/248,591, entitled        TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S.        Patent Application Publication No. 2014/0305991;    -   U.S. patent application Ser. No. 14/248,584, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR        ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS,        now U.S. Patent Application Publication No. 2014/0305994;    -   U.S. patent application Ser. No. 14/248,587, entitled POWERED        SURGICAL STAPLER, now U.S. Patent Application Publication No.        2014/0309665;    -   U.S. patent application Ser. No. 14/248,586, entitled DRIVE        SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now        U.S. Patent Application Publication No. 2014/0305990; and    -   U.S. patent application Ser. No. 14/248,607, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION        ARRANGEMENTS, now U.S. Patent Application Publication No.        2014/0305992.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. Provisional Patent Application Ser. No. 61/812,365,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR;    -   U.S. Provisional Patent Application Ser. No. 61/812,376,        entitled LINEAR CUTTER WITH POWER;    -   U.S. Provisional Patent Application Ser. No. 61/812,382,        entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;    -   U.S. Provisional Patent Application Ser. No. 61/812,385,        entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION        MOTORS AND MOTOR CONTROL; and    -   U.S. Provisional Patent Application Ser. No. 61/812,372,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongated shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich the first jaw is pivotable relative to the second jaw. Thesurgical stapling system further comprises an articulation jointconfigured to permit the end effector to be rotated, or articulated,relative to the shaft. The end effector is rotatable about anarticulation axis extending through the articulation joint. Otherembodiments are envisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

FIG. 1 depicts a motor-driven surgical cutting and fastening instrument10 that may or may not be reused. In the illustrated embodiment, theinstrument 10 includes a housing 100 that comprises a handle 110 that isconfigured to be grasped, manipulated and actuated by the clinician. Inthe illustrated example, a dedicated shaft assembly 1000 is operablycoupled to the handle 110. In alternative embodiments, however, thehandle assembly is configured to be employed with a variety of differentinterchangeable shaft assemblies that each have a surgical end effectoroperably coupled thereto that is configured to perform one or moresurgical tasks or procedures. For example, the interchangeable shaftassemblies disclosed herein may be employed with various roboticsystems, instruments, components and methods disclosed in U.S. patentapplication Ser. No. 13/118,241, filed May 27, 2011, now U.S. Pat. No.9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS, that is incorporated by reference herein in itsentirety.

As the present Detailed Description proceeds, it will be understood thatthe various aspects of the shaft assembly 1000 may also be effectivelyemployed in connection with robotically-controlled surgical systems.Thus, the term “housing” may also encompass a housing or similar portionof a robotic system that houses or otherwise operably supports or isotherwise associated with at least one drive system that is configuredto generate and apply at least one control motion which could be used toactuate the interchangeable shaft assemblies disclosed herein and theirrespective equivalents. The term “frame” may refer to a portion of ahandheld surgical instrument. The term “frame” may also represent aportion of a robotically controlled surgical instrument and/or a portionof the robotic system that may be used to operably control a surgicalinstrument. In addition, various components may be “housed” or containedin the housing or various components may be “associated with” a housing.In such instances, the components may not be contained with the housingor supported directly by the housing.

The illustrated embodiment is an endoscopic instrument and, in general,the embodiments of the instrument 10 described herein are endoscopicsurgical cutting and fastening instruments. It should be noted, however,that according to various embodiments, the instrument may be anon-endoscopic surgical cutting and fastening instrument, for example.Various surgical instruments are disclosed in U.S. Pat. No. 7,845,537,entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES; U.S. Pat.No. 8,608,045, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUSWITH MANUALLY RETRACTABLE FIRING SYSTEM; and U.S. Pat. No. 9,050,083,entitled MOTORIZED SURGICAL INSTRUMENT, the entire disclosures of whichare hereby incorporated by reference herein.

Turning to FIG. 2, in the illustrated example, the shaft assembly 1000includes an end effector 1500 that is configured to cut and stapletissue. The end effector 1500 comprises a first jaw 1510 and a secondjaw 1600 that is movably supported on the first jaw 1510. The first jawcomprises an elongated channel 1520 that is configured to operablysupport a surgical staple cartridge 1540 therein. The second jaw 1600comprises an anvil 1610 that includes an elongated anvil body 1612 andan anvil mounting portion 1620. Alternative arrangements arecontemplated, however, wherein the first jaw comprises an anvil and thesecond jaw comprises a surgical staple cartridge or a channel configuredto support a surgical staple cartridge. In the illustrated example, theelongated anvil body 1612 includes a staple forming undersurface 1614thereon that is adapted for confronting relationship with respect to thesurgical staple cartridge 1540. The anvil 1610 is pivotally supported onor movably supported on the elongated channel 1520 by a pair of anviltrunnions 1622 that are formed on the anvil mounting portion 1620. Eachtrunnion 1622 is pivotally received in a corresponding trunnion cradle1524 formed in a proximal end portion of the elongated channel 1520. Thetrunnions 1622 are pivotally retained within their respective cradles1524 by an anvil retainer 1530.

Still referring to FIG. 2, the shaft assembly 1000 includes a spineassembly 1200 that includes a spine shaft 1210 that is configured to,one, slidably support a firing member assembly 1900 therein and, two,slidably support a closure member assembly 2000 which extends around thespine assembly 1200. The spine assembly 1200 further includes upper andlower spine stays 1220 and 1230 that are supported by the spine shaft1210. As can be seen in FIG. 2, a distal end 1212 of spine shaft 1210terminates in an upper lug mount feature 1240 and in a lower lug mountfeature 1250. The upper lug mount feature 1240 is formed with a lug slot1242 therein that is adapted to mountingly support the distal end 1222of the upper spine stay 1220 therein. Similarly, the lower lug mountfeature 1250 is formed with a lug slot 1252 therein that is adapted tomountingly support the distal end 1232 of the lower spine stay 1230therein. The distal end 1222 of the upper spine stay 1220 includes apivot socket 1224 therein that is adapted to rotatably receive therein apivot pin 1532 that is formed on a channel cap or anvil retainer 1530.The distal end 1232 of the lower spine stay 1230 includes lower pivotpin 1234 that adapted to be received within a pivot hole (not shown)formed in the proximal end portion 1522 of the elongated channel 1520.The lower pivot pin 1234 is vertically aligned with the pivot socket1224 to define an articulation axis AA about which the surgical endeffector 1500 may articulate relative to the shaft 1000. See FIG. 3.

In the illustrated arrangement, the closure member assembly 2000comprises a proximal closure tube segment or closure member segment2010. The proximal closure tube segment 2010 is operably coupled to adouble pivot closure sleeve assembly 2020 that defines an articulationjoint 2105 about which the end effector 1500 may articulate relative tothe remaining portion of the shaft assembly 1000. Other shaftassemblies, however, may not be capable of articulation. As can be seenin FIG. 2, in one form, the double pivot closure sleeve assembly 2020comprises an intermediate closure tube segment 2030 that is attached toa distal end 2012 of the proximal closure tube segment 2010. Inaddition, the double pivot closure sleeve assembly 2020 includes an endeffector closure tube or distal closure tube 2040 that has upper andlower distally projecting tangs 2042, 2044. An upper double pivot link2060 includes upwardly projecting distal and proximal pivot pins thatengage respectively an upper distal pin hole in the upper proximallyprojecting tang 2042 and an upper proximal pin hole in an upper distallyprojecting tang 2032 on the intermediate closure tube segment 2030. Alower double pivot link 2070 includes upwardly projecting distal andproximal pivot pins that engage respectively a lower distal pin hole inthe lower proximally projecting tang 2044 and a lower proximal pin holein the lower distally projecting tang 2034. See FIGS. 2 and 3.

As will be discussed in further detail below, the anvil 1610 is movedfrom an open position to a closed position by translating the closuremember assembly 2000 in the distally (direction “DD”). The anvil 1610 isopened by proximally translating the closure member assembly 2000 whichcauses the end effector closure sleeve 2020 to interact with the anvil1610 and pivot it to an open position. Referring to FIGS. 4 and 5, in atleast one arrangement, the distal closure member or end effector closuretube 2040 employs two axially offset, proximal and distal positive jawopening features 2050 and 2052. In FIGS. 4 and 5, the proximal positivejaw opening feature 2050 is located on the right side (as viewed by auser of the tool assembly) of the shaft axis SA. The positive jawopening features 2050, 2052 are configured to interact withcorresponding relieved areas (not shown) and stepped portions (notshown) that are formed on the anvil mounting portion 1620 as describedin further detail in U.S. patent application Ser. No. 15/635,631, filedJun. 28, 2017, entitled SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSUREMEMBER, the entire disclosure which has been herein incorporated byreference as well as in other references incorporated herein. Other jawopening arrangements may also be employed.

In the illustrated example as well as other anvil configurationsdisclosed in references incorporated herein, the anvil mounting portion1620 has a cam surface or cam surfaces 1624 formed thereon. As the endeffector closure tube 2040 is moved distally, a cam surface formed on adistal end of the end effector closure tube 2040 interacts with the camsurfaces 1624 on the anvil mounting portion 1620 to cam the anvil 1610into a closed position.

As was also indicated above, the shaft assembly 1000 further includes afiring member assembly 1900 that is supported for axial travel withinthe spine shaft 1210. The firing member assembly 1900 includes anintermediate firing shaft portion 1910 that is configured for attachmentto a distal cutting portion or knife bar 1930. The intermediate firingshaft portion 1910 may include a longitudinal slot 1912 in the distalend thereof which can be configured to receive a tab 1932 on theproximal end of the distal knife bar 1930. The longitudinal slot 1932and the proximal end tab 1932 can be sized and configured to permitrelative movement therebetween and can comprise a slip joint 1940. Theslip joint 1940 can permit the knife bar 1930 to move axially relativeto the intermediate firing shaft portion 1910 to accommodatearticulation of the end effector 1500, for example. The knife bar 1930includes a knife portion 1950 that includes a blade or tissue cuttingedge 1952 and includes an upper anvil engagement tab 1954 and lowerchannel engagement tabs 1956. Various firing member configurations andoperations are disclosed in various other references that areincorporated herein by reference.

In the illustrated example, the surgical end effector 1500 isselectively articulatable about the articulation axis AA by anarticulation drive system 2100. In one form, the articulation drivesystem 2100 includes proximal articulation driver 2110 that is operablycoupled to an intermediate articulation driver 2120 that is pivotallycoupled to a distal articulation link 2130. As can be most particularlyseen in FIGS. 4 and 5, an offset attachment lug 2122 is formed on adistal end of the intermediate articulation driver 2120. A pivot hole2123 is formed in the offset attachment lug 2122 and is configured topivotally receive therein a proximal link pin 2134 formed on theproximal end 2132 of the distal articulation link 2130. A distal end2136 of the articulation link 2120 includes a pivot hole 2138 that isconfigured to pivotally receive therein a channel pin 1526 that isformed on the proximal end portion 1522 of the elongated channel 1520.Thus, axial movement of intermediate articulation driver 2120 willthereby apply articulation motions to the elongated channel 1520 tothereby cause the surgical end effector 1500 to articulate about thearticulation axis AA relative to the spine assembly 1200.

Turning now to FIGS. 6 and 7, the handle 110 comprises handle housingsegments 116, 118 cooperate to form a pistol grip portion 119 that canbe gripped and manipulated by the clinician. As will be discussed infurther detail below, the handle 110 operably supports a plurality ofdrive systems therein that are configured to generate and apply variouscontrol motions to the shaft assembly 1200. Referring now to FIG. 2, thehandle 110 may further include a frame assembly or chassis 200 thatoperably supports a plurality of drive systems. For example, the frameassembly 200 can operably support a “first” or closure drive system,generally designated as 300, which may be employed to apply closing andopening motions to the end effector 1500 of the shaft assembly 1000. Inthe illustrated example, the frame assembly 200 includes a right frameportion 210 and a frame cap 212 that is attached thereto by snapfeatures, lugs, screws, etc. to define a shuttle cavity 214 therein. SeeFIGS. 6 and 7.

In at least one form, the closure drive system 300 may include anactuator in the form of a closure trigger 332 that is pivotallysupported by the frame assembly 200. More specifically, as illustratedin FIGS. 6 and 7, the closure trigger 332 is pivotally coupled to theframe assembly 200 by a pin 333. Such arrangement enables the closuretrigger 332 to be manipulated by a clinician such that when theclinician grips the pistol grip portion 119 of the handle 100, theclosure trigger 332 may be easily pivoted from a starting or“unactuated” position to an “actuated” position and more particularly toa fully compressed or fully actuated position. The closure trigger 332may be biased into the unactuated position by spring or other biasingarrangement. In various forms, the closure drive system 300 furtherincludes a closure linkage assembly 340 that is pivotally coupled to theclosure trigger 1032. As can be seen in FIG. 6, the closure linkageassembly 340 may include a first closure link 342 and a second closurelink 344 that are each pivotally coupled to the closure trigger 332 by apin 335.

Still referring to FIG. 6, it can be observed that the first closurelink 342 may have a locking wall or end 345 thereon that is configuredto cooperate with a closure release assembly 350 that is pivotallycoupled to the right frame portion 210. In at least one form, theclosure release assembly 350 may comprise a release button assembly 352that has a distally protruding locking pawl 354 formed thereon. Therelease button assembly 352 may be pivoted in a counterclockwisedirection by a release spring (not shown). As the clinician depressesthe closure trigger 332 from its unactuated position towards the pistolgrip portion 119 of the handle 100, the first closure link 342 pivotsupward to a point wherein the locking pawl 354 drops into retainingengagement with the locking wall 345 on the first closure link 344thereby preventing the closure trigger 332 from returning to theunactuated position. Thus, the closure release assembly 350 serves tolock the closure trigger 332 in the fully actuated position. When theclinician desires to unlock the closure trigger 332 to permit it to bebiased to the unactuated position, the clinician simply pivots theclosure release button assembly 352 such that the locking pawl 354 ismoved out of engagement with the locking wall 345 on the first closurelink 344. When the locking pawl 354 has been moved out of engagementwith the first closure link 344, the closure trigger 332 may pivot backto the unactuated position. Other closure trigger locking and releasearrangements may also be employed.

In the illustrated example, an arm 355 extends from the closure releasebutton 352. A magnetic element 356, such as a permanent magnet, forexample, may be mounted to the arm 355. When the closure release button352 is rotated from its first position to its second position, themagnetic element 356 can move toward a circuit board 400. The circuitboard 400 can include at least one sensor that is configured to detectthe movement of the magnetic element 356. In at least one embodiment,for example, a “Hall Effect” sensor (not shown) can be mounted to thebottom surface of the circuit board 400. The Hall Effect sensor can beconfigured to detect changes in a magnetic field surrounding the HallEffect sensor that are caused by the movement of the magnetic element356. The Hall Effect sensor can be in signal communication with amicrocontroller, for example, which can determine whether the closurerelease button 352 is in its first position, which is associated withthe unactuated position of the closure trigger 332 and the openconfiguration of the end effector, its second position, which isassociated with the actuated position of the closure trigger 332 and theclosed configuration of the end effector, and/or any position betweenthe first position and the second position.

In at least one form, the handle 100 and the frame assembly 200 operablysupport another drive system referred to herein as a firing drive system500 that is configured to apply firing motions to the firing memberassembly 1900 in the shaft assembly 1000. The firing drive system 500may also be referred to herein as a “second drive system”. The firingdrive system 500 may employ an electric motor 502 that is located in thepistol grip portion 119 of the handle 100. In various forms, the motor502 may be a DC brushed driving motor having a maximum rotation of,approximately, 25,000 RPM, for example. In other arrangements, the motormay include a brushless motor, a cordless motor, a synchronous motor, astepper motor, or any other suitable electric motor. The motor 502 maybe powered by a power source 510 that in one form may comprise aremovable power pack 512. As can be seen in FIG. 8, for example, thepower pack 512 may support a plurality of batteries 514 therein.Batteries 514 may each comprise, for example, a Lithium Ion (“LI”) orother suitable battery. The power pack 512 is configured for removableoperable attachment to the circuit board assembly 400 which is alsooperably coupled to the motor 502. A number of batteries 514 may beconnected in series may be used as the power source for the surgicalinstrument 10. In addition, the power source 510 may be replaceableand/or rechargeable.

As outlined above with respect to other various forms, the electricmotor 502 can include a rotatable shaft 506 that operably interfaceswith a gear reducer assembly 520 that is mounted in meshing engagementwith a with a set, or rack, of drive teeth on a longitudinally-movabledrive member 530. An attachment lug 1916 is formed on a proximal end1914 of the intermediate firing shaft portion 1910. The attachment lug1916 is configured to be received within an attachment cradle 536 thatis formed in a distal end of the longitudinally movable drive member530. In use, a voltage polarity provided by the power source 510 canoperate the electric motor 502 in a clockwise direction wherein thevoltage polarity applied to the electric motor by the battery can bereversed in order to operate the electric motor 502 in acounter-clockwise direction. When the electric motor 502 is rotated inone direction, the drive member 530 will be axially driven in the distaldirection “DD”. When the motor 502 is driven in the opposite rotarydirection, the drive member 530 will be axially driven in a proximaldirection “PD”. The handle 100 can include a switch which can beconfigured to reverse the polarity applied to the electric motor 502 bythe power source 510. As with the other forms described herein, thehandle 100 can also include a sensor that is configured to detect theposition of the drive member 530 and/or the direction in which the drivemember 530 is being moved.

Actuation of the motor 502 can be controlled by a firing trigger 540that is pivotally supported on the handle 100. The firing trigger 540may be pivoted between an unactuated position and an actuated position.The firing trigger 540 may be biased into the unactuated position by aspring 542 or other biasing arrangement such that when the clinicianreleases the firing trigger 540, it may be pivoted or otherwise returnedto the unactuated position by the spring or biasing arrangement. In atleast one form, the firing trigger 540 can be positioned “outboard” ofthe closure trigger 332 as was discussed above. In at least one form, afiring trigger safety button 550 may be pivotally mounted to the closuretrigger 332. The safety button 550 may be positioned between the firingtrigger 540 and the closure trigger 332 and have a pivot arm protrudingtherefrom. When the closure trigger 332 is in the unactuated position,the safety button 550 is contained in the handle 100 where the cliniciancannot readily access it and move it between a safety positionpreventing actuation of the firing trigger 540 and a firing positionwherein the firing trigger 540 may be fired. As the clinician depressesthe closure trigger 332, the safety button 550 and the firing trigger540 pivot down wherein they can then be manipulated by the clinician.

As indicated above, in at least one form, the longitudinally movabledrive member 530 has a rack of teeth formed thereon for meshingengagement with a corresponding drive gear of the gear reducer assembly520. At least one form also includes a manually-actuatable “bailout”assembly 560 that is configured to enable the clinician to manuallyretract the longitudinally movable drive member 530 should the motor 502become disabled. See FIG. 7. The bailout assembly 560 may include alever or bailout handle assembly 562 that is configured to be manuallypivoted into ratcheting engagement with teeth 532 also provided in thedrive member 530. Thus, the clinician can manually retract the drivemember 530 by using the bailout handle assembly 562 to ratchet the drivemember 530 in the proximal direction PD. U.S. patent application Ser.No. 12/249,117, filed Oct. 10, 2008, now U.S. Pat. No. 8,608,045,entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLYRETRACTABLE FIRING SYSTEM, discloses bailout arrangements and othercomponents, arrangements and systems that may also be employed with thevarious instruments disclosed herein. U.S. Pat. No. 8,608,045, is herebyincorporated by reference herein in its entirety.

One method of attaching the shaft assembly 1000 to the handle will nowbe described with reference to FIGS. 6-9. In the illustrated example,the shaft assembly 1000 includes a nozzle assembly 2200 that includes aproximal nozzle assembly 2210 and a distal nozzle assembly 2250. Theproximal nozzle assembly 2210 includes a right proximal nozzle segment2220 and a left proximal nozzle segment 2230. The proximal nozzlesegments 2220, 2230 may be attached together by snap lugs, screws,adhesive, etc. The distal nozzle assembly 2250 includes a right distalnozzle segment 2260 and a left distal nozzle segment 2270. The rightdistal nozzle segment 2260 and the left distal nozzle segment 2270 arecoupled together by snap features, lugs, screws, adhesive, etc. Theproximal nozzle assembly 2210 and the distal nozzle assembly 2250 may beattached together by adhesive, friction, etc. The nozzle assembly 2200is journaled on the housing 100 for selective rotation relative theretoabout the shaft axis SA. In the illustrated example, the distal nozzleassembly 2250 is provided with an inwardly extending proximal mountingflange 2252 that interfaces with a frame mounting flange 220 formed onframe portion 210 of the frame assembly 200. The proximal nozzleassembly 2210 is formed with fins 2212 to facilitate rotation of thenozzle assembly 2200 about the shaft axis SA.

In the illustrated arrangement, the shaft assembly 1000, including theend effector 1500 attached thereto, is rotatable about the shaft axis SAby rotating the nozzle assembly 2200 relative to the handle 100. As canbe seen in FIG. 8, for example, the distal nozzle assembly 2250 includesa shaft engagement flange 2254 that extends inwardly through nozzleengagement openings 2016 in a proximal end portion 2014 of the proximalclosure tube segment 2010. Such arrangement permits the shaft assembly1000 to be rotated about the shaft axis SA when the clinician rotatesthe nozzle assembly 2200. The nozzle engagement openings 2016 are sizedto permit axial movement of the proximal closure tube segment 2010relative to the shaft engagement flange 2254. Still referring to FIG. 8,the distal nozzle assembly 2250 may further include a support sleeveportion 2256 configured to movably support the proximal closure tubesegment 2010 therein. In addition, as can be seen in FIG. 9, a proximalend 1226 of the upper spine stay 1220 and a proximal end 1236 of thelower spine stay 1230 are each supported in a spine bearing 1260 that isrotatably supported in the frame assembly 200.

Referring now to FIGS. 6, 8 and 9, the proximal end portion 2014 of theproximal closure tube segment 2010 is movably supported in a closureshuttle 360 that is linked to the second closure link 344 of the closurelinkage assembly 340 (FIG. 6). The closure shuttle 360 is slidablysupported in the shuttle cavity 214 in the fame assembly 200. Theproximal end portion 2014 of the proximal closure tube segment 2010extends through a U-shaped cradle opening 362 in the closure shuttle 360to be rotatably supported therein. Such arrangement permits the proximalend portion 2014 of the proximal closure tube segment 2010 to rotaterelative to the closure shuttle 360 when the shaft assembly 1000 isrotated relative to the handle 100. In addition, when the cliniciandepresses the closure trigger 332, the closure shuttle is moved in thedistal direction DD within the shuttle cavity 214 and also causes theclosure member assembly 2000 in the distal direction to apply closuremotions to the end effector 1500.

As can be seen in FIGS. 8 and 9, a first spring 370 is journaled on theproximal portion 2014 of the proximal closure tube segment 2010 betweenthe cradle wall 362 of the closure shuttle 360 and a distal end wall 219formed on the right frame portion 210 (first spring space 221). Theaxial length of the first spring space is designated X₁. The firstspring 370 biases the closure shuttle 360 proximally (arrow PD) into thestarting position that corresponds to a fully open position of theanvil. See FIG. 10. In the illustrated example, a proximal flange 2018is formed on the proximal end portion 2014 of the proximal closure tubesegment 2010. The proximal flange 2018 is configured to slidably travelwithin a closure or second cavity 364 that is formed in the closureshuttle 360 as shown. The axial length of the second cavity or secondspring space 363 is designated as X₂. In at least one arrangement, forexample, X₁>X₂. A second closure spring or biasing member 380 is locatedwithin the second spring space 363 to bias the proximal flange 2018 onthe proximal closure tube segment 2010 in the distal direction DDagainst the cradle wall 362 of the closure shuttle 360.

During the initial clamping of the target tissue between the anvil 1610and the surgical staple cartridge 1540, the closure drive system 300must apply a sufficient amount of axial closure force to the anvil 1610to pivot the anvil 1610 to a closed position and retain it in thatposition throughout the staple forming process. The term “closureprocedure” in at least one application refers to the process of movingthe anvil from a fully opened position to a closed position on thetarget tissue and retaining the anvil in the closed position until thestaple forming process has been fully completed and the anvil is readyto be reopened to release the target tissue from the end effector. Theamount of closure force required to close the anvil and retain it in aclosed position can vary during the stapling process due to “tissuecreep”. For example, as the anvil compresses the target tissue, fluidwithin the clamped target tissue can “creep” or migrate within thetissue and even flow to adjacent unclamped tissue. Further tissue creepmay be experienced as the knife portion 1950 is driven through theclamped target tissue. Thus, tissue creep can also affect the amount offiring force required to cut the target tissue and fire the stapleswithin the staple cartridge. As the knife portion 1950 nears the end ofits stroke, the amount of required firing force may be reduced becausethe creeping fluid has completed the migration into the adjacentunclamped tissue.

FIG. 10 illustrates the closure drive system 300 in an unactuatedorientation. As can be seen in FIG. 10, the first spring 370 has biasedthe closure shuttle 360 proximally in the PD direction within theshuttle cavity 214 in the frame assembly 200 to its proximal-most orstarting position. As a result of the closure shuttle 360 being attachedto the closure trigger 332 by the closure linkage assembly 340, theclosure trigger 332 is pivoted into the unactuated starting position.When the closure drive system 300 is in that unactuated position, theanvil 1610 is in a fully open position. In at least one example, thefirst spring 370 is “weaker” than the second spring 380. Stated anotherway, the second spring 380 is stiffer than the first spring 370. That isthe spring constant K₁ of the first spring 370 is less than the springconstant K₂ of the second spring 380. Thus, K₂>K₁. In some arrangements,for example, K₂ may be up to ten times greater than K₁. In otherarrangements K₂/K₁>1. In alternative arrangements, K₂<K₁. The clinicianinitiates the closure process by depressing the closure trigger 332towards the pistol grip 119 of the housing 100. This action starts tomove the closure shuttle 360 in the distal direction DD which starts tocompress the first spring 370. As the closure shuttle 360 starts movingdistally, the closure shuttle 360 also starts moving the proximalclosure tube segment 2010 distally. As the proximal closure tube segment2010 moves distally, the entire closure member assembly 2000 (of whichthe proximal closure tube segment 2010 is a part) moves distally toapply closure motions to the anvil 1610. As the clinician continues topivot the closure trigger 332 toward the pistol grip 119, the closureshuttle 360 continues to move distally and to compress the first spring370. As the anvil 1610 starts to close, the amount of closure forcesrequired may begin to increase as the anvil 1610 begins to compress thetarget tissue. As the target tissue begins to compress, the fluidscontained therein may begin to creep within the target tissue which candirectly affect the amount of closure forces required to completelyclose the anvil. As the resistance to closure increases, the closuremember assembly 2000 can move in the proximal direction PD against theclosure force applied by the second spring 380 to the proximal closuretube segment 2010. FIG. 11 depicts the closure drive system 300 in afully closed position that corresponds to a fully closed position of theanvil 1610. Thus, the ultimate amount of closure force applied to theanvil 1610 through the closure member assembly 2000 can vary due to theability of the second spring 380 to compress in response to the closureresistance experienced by the anvil during the closure procedure. Thus,the anvil can “progressively close” as it experiences changes in theamount of resistance created by the target tissue. This may also bereferred to herein as generating a “progressive closure force”.

Once the jaws 1510, 1600 are closed onto the target tissue and locked inthat position, the clinician may then institute the firing process bydepressing the firing trigger 540 which causes the knife bar 1910 todrive the knife portion 1950 through the clamped target tissue. As theknife portion 1950 is driven distally through the end effector 1500, theknife blade 152 cuts through the target tissue. In addition, in at leastone arrangement, the knife portion 1950 engages and distally drives acamming assembly, sometimes referred to as a wedge sled 1970 that isslidably supported in the surgical staple cartridge 1540. As the wedgesled 1970 is driven distally through the staple cartridge 1540, the camsformed on the wedge sled 1970 camming engage staple drivers (not shown)that are movably supported within the staple cartridge 1540. Each stapledriver may support one or more surgical staples thereon. The stapledrivers are commonly supported in axially lines located on each side ofan elongated slot that is formed in the staple cartridge. As the wedgesled 1570 contacts the staple drivers, they are driven upward (towardthe closed anvil) 1610 thereby driving the staple(s) supported thereonthrough the target tissue and into forming contact with the stapleforming undersurface 1614 of the anvil body 1612. The wedge sled 1570 isposition distal to the tissue cutting knife blade, so the staples aredeployed through the target tissue before the target tissue is cut.

Further, as the knife portion 1950 is driven through the target tissue,tabs or flanges formed in the knife portion engage the anvil 1610 aswell as the elongated channel 1510 and retain the anvil 1610 and channel1510 closed and spaced at a desired spacing arrangement during thestapling process. While such distal advancement of the knife portion mayreduce the amount of closure force required from the closure system, asignificant amount of “firing forces” must be generated by the firingsystem to push the knife portion 1950 through the target tissue and toovercome the resistive forces and friction of the system as the wedgesled actuates the staple drivers. Thus, the firing system must be ableto generate sufficient firing forces and the firing system componentsmay be sufficiently robust to effectively accommodate such forces whilealso being flexible enough to accommodate articulation of the endeffector. These design requirements of the closure and firing systemsmay also be exacerbated by the type and composition of the targettissue. Further, the components of these systems must be sufficientlysmall enough to be inserted through the small cannulas of trocars.

FIG. 12 is a graphical comparison between a the surgical instrument 10that employs the progressive closure drive system 300 described aboveand two previous surgical instruments A and B that employ differentclosure drive arrangements. Previous surgical instrument A employs aclosure drive system that is directly linked to the closure actuator orclosure trigger. While previous surgical instrument A does employ aspring for biasing the closure system to an unactuated position,previous surgical instrument A does not employ a second biasing memberlike surgical instrument 10 described above. In addition, the anvil ofsurgical instrument A lacks a camming surface or surfaces like anvil1610 described above. Instead, the anvil of surgical instrument A has ahard edge that is arranged for contact by the closure member or tube. Asthe closure member contacts that hard edge, the anvil is pivoted closed.

Still referring to FIG. 12, previous surgical instrument B is similar insome aspects to previous surgical instrument A in that surgicalinstrument B has a first biasing member for biasing the closure systemto an unactuated position. However, surgical instrument B does notemploy a second biasing member like instrument 10 described above. Theanvil of surgical instrument B, however, does employ camming surfacesthat are configured to be contacted by the closure member to pivot theanvil to a closed position. FIG. 12 is a plot showing the amount of timeto complete the closure procedure vs the amount of closure forcesrequired during the procedure for each of the three surgicalinstruments: surgical instrument 10, surgical instrument A and surgicalinstrument B. As can be seen in FIG. 12, the amount of closure forcesrequired throughout the closure procedure for surgical instrument 10 isless than the closure forces required by surgical instruments A and B.While the closure forces needed by surgical instrument B are less thanthe closure forces required by surgical instrument A, the closure forcesrequired by surgical instrument 10 are considerably less than theclosure forces required by both A and B throughout the closure process.

FIGS. 13A and 13B compare the force to fire (FTF), the force to close(FTC) experienced by surgical instrument 10 and surgical instrument B(with the camming surfaces on the anvil) as the firing member or knifetravels through the anvil from a proximal-most starting position to adistal-most ending position in the anvil (crosshead distance). FIG. 13Aillustrates the FTF, FTC and the anvil height during the firingprocedure for the surgical instrument B. FIG. 13B illustrates the FTF,FTC, anvil height and spring height of surgical instrument 10. As can beseen from reference to FIGS. 13A and 13B, the initial anvil height forsurgical instrument B was 0.0510 inches and the initial anvil height forsurgical instrument 10 was 0.511 inches. The peak closure force FTC inpounds for surgical instrument B was 51.5 pounds and for surgicalinstrument 10 was 98.7 pounds. The peak FTF in pounds for surgicalinstrument B was 48.9 pounds and for surgical instrument 10 was 36.4pounds. Thus, surgical instrument 10 experienced a 25.6% reduction inthe amount of closure forces required by surgical instrument 10. Thisreduction in the amount of firing force required may allow the firingsystem components to be fabricated from lighter and or smaller componentarrangements.

As indicated above, the surgical instrument 10 includes an articulationdrive system 2100 that is configured to selectively articulate thesurgical end effector 1500 relative to the shaft assembly 1000 about anarticulation axis AA that is transverse to the shaft axis SA. See FIG.14. The articulation drive system 2100 includes an articulation driveassembly 2102 that comprises a proximal articulation driver 2110 that iscoupled to an intermediate articulation driver 2120 that is pivotallycoupled to a distal articulation link 2130 that is attached to theproximal end of the elongated channel 1520. See FIG. 2. In one example,the distal articulation link 2130 is attached to the intermediatearticulation driver 2120 on one side of the shaft axis SA. The distalarticulation link 2130 is attached to the elongated channel 1520 on theopposite side of the shaft axis SA so that the distal articulation link2130 extends transversely across the shaft axis SA. In the illustratedexample, the joint between the proximal articulation driver 2110 and theintermediate articulation driver 2120 may also function as anarticulation lock assembly 2121 that serves to retain the surgical endeffector 1500 in an articulated position after the articulation motionapplied to the proximal articulation driver 2110 is discontinued. In theillustrated example, a distal end 2112 of the proximal articulationdriver 2110 is threaded. The threaded distal end 2112 of the proximalarticulation driver 2110 is in threaded engagement with a threadedsocket 2126 in a proximal end 2124 of the intermediate articulationdriver 2120. Rotation of the proximal articulation driver 2110 in afirst rotary direction will cause the intermediate articulation driver2120 to axially move in a first or distal direction DD. Movement of theintermediate articulation driver 2120 in the distal direction DD willcause the surgical end effector 1500 to pivot about the articulationaxis AA in a first articulation direction AD₁. Rotation of the proximalarticulation driver in a second rotary direction will cause theintermediate articulation driver 2120 to move in a second or proximaldirection PD. Axial movement of the intermediate articulation driver2120 in the proximal direction PD will cause the surgical end effector1500 to pivot about the articulation axis AA in a second articulationdirection AD₂.

In the illustrated example, housing 100 or handle 110 defines alongitudinal axis LA. See FIGS. 15 and 16. As indicated above, the shaftassembly 1000 also defines a shaft axis SA. The shaft axis SA and thelongitudinal axis LA may be coaxial. The longitudinal the articulationdrive system 2100 includes an articulation motor 2140 that is mountedwithin a distal nozzle assembly 2250 for rotational travel therewith inan orbit about the longitudinal axis LA when the user rotates the nozzleassembly 2250 relative to the housing 100. The distal nozzle assembly2250 may also be referred to herein as a “shaft rotator assembly” thatis configured to rotatably couple the shaft assembly 1000 to the housing100. In one arrangement, the articulation motor 2140 includes a gearconfiguration that includes a motor output gear 2142. The motor outputgear 2142 rotates about motor axis MA that is parallel to and offsetfrom the longitudinal axis LA. See FIG. 16. In the illustrated example,the motor output gear 2142 is in meshing engagement with a controlswitch gear 2152 of a motor switch system 2150. The control switch gear2152 is in meshing engagement with a proximal articulation drive gear2118 that is formed on a proximal end 2116 of the proximal articulationdriver 2110. Thus, rotation of the motor output gear 2142 in onedirection will result in rotation of the proximal articulation driver2110 in the first direction which will cause the intermediatearticulation driver 2120 in the distal direction and cause the surgicalend effector 1500 to articulate in the first articulation direction AD₁.Likewise rotation of the articulation motor in an opposite rotarydirection will cause the proximal articulation driver 2110 to rotate ina second rotary direction and thereby cause the intermediatearticulation driver 2120 to move in the proximal direction PD. Movementof the intermediate articulation driver 2120 in the proximal directionPD will cause the surgical end effector 1500 to articulate in the secondarticulation direction AD₂. In various embodiments, the articulationmotor 2140 and gear configuration may, for example, be less than 12 mmin diameter and less than 1.5 inches long. The articulation motor 2140may be of brushed design with less than 1.5 watt power output. In atleast some embodiments, the power output of the motor 2140 isapproximately 0.75-1.0 watts. The gear configuration may be supported bythe motor housing or it may be separate from the motor housing. In atleast one example, the gear configuration has a 100:1 reduction althoughgear configurations with higher reduction ratios may be employed. Inalternative arrangements, other motor configurations may be employed.

With respect to the articulation lock 2121, the threads on the distalend 2112 of the proximal articulation driver 2110 may, for example,comprise a #2 screw thread with either a fine (e.g., 64 threads/inch) ora coarse (less than 64 threads/inch) provides sufficient mechanicaladvantage for the articulation motor 2140 to cause articulation of thesurgical end effector 1500 while also functioning as a lock to preventmovement of the surgical end effector 1500 after the articulation motor2140 has been de-energized. As can also be seen in FIG. 2, the proximalarticulation driver 2110 may be provided with a support shoulder portion2119 that has a larger diameter than the adjacent portions of the of theproximal articulation driver 2110. The larger shoulder 2119 slidablyinterfaces with the spine shaft 1210 for additional support when in thelocked position.

Still referring to FIGS. 16-19, the motor switch system 2150 includes aswitch traveler 2170 that is threaded onto a switch drive screw 2160that is attached to the control switch gear 2152. Rotation of the motoroutput gear 2142 will cause the control switch gear 2152 to rotate whichultimately causes the switch drive screw 2160 to rotate. Rotation of theswitch driver screw 2160 results in the axial movement of the switchtraveler 2170 relative to a switch housing 2162 mounted in the distalnozzle assembly 2250. The switch housing 2162 operably supports aplurality of limit switches that are in communication with the controlcircuit board 400 that is supported in or associated with the housing100 as will be further discussed below. See FIG. 16. In the illustratedexample, three limit switches are employed: a central limit switch 2172,a proximal limit switch 2174 and a distal limit switch 2176. Theswitches 2172, 2174, 2176 are wired to a series of circuit traces orconductors 2222, 2224, 2226, 2228 that are mounted within the proximalnozzle assembly 2210. See FIG. 20. Circuit traces 2222, 2224, 2226 and2228 are wired or electrically coupled to the articulation motor 2140and switches 2172, 2174, 2176 by wires or flexible circuit conductors(not shown). Turning to FIGS. 21 and 22, a contact block 410 is fixedlymounted to the frame assembly 200 and includes contacts 412, 424, 416and 418 that correspond respectively to circuit traces 2222, 2224, 2226and 2228. Contacts 412, 414, 416, 418 are wired to the control circuitboard 400. As the proximal nozzle assembly 2210 is rotated relative tothe housing 100 about the shaft axis SA, power/control signals may beprovided between the control circuit board 400 and the articulationmotor 2140 and switches 2172, 2174, 2176 through a slip joint assembly411 which comprises the circuit traces 2222, 2224, 2226, 2228 andcontacts 412, 414, 416, 418 to facilitate rotation of the articulationmotor 2140 and the control switch assembly relative to the housing 100about the shaft axis SA. Articulation control switches 2180 are mountedon each side of housing 100 and are used to control the rotation of thearticulation motor 2140. See FIG. 15. Switches 2180 may comprise“rocker-type” switches that, when depressed in one direction (arrow2182), the articulation motor 2140 rotates the motor output gear 2142 inone rotary direction and when a switch 2180 is depressed in an oppositedirection (arrow 2184) the articulation motor rotates the motor outputgear 2142 in an opposite rotary direction.

Turning now to FIGS. 19 and 23-26, the positions of switches 2172, 2174,2176 relative to the path of the switch traveler 2170 serve to definethe range of articulation of the surgical end effector 1500. Switch 2172comprises the central or home switch that corresponds to theunarticulated position of the surgical end effector 1500. When in thatposition, a central end effector axis EA is generally aligned with theshaft axis SA. When in this position, for example, the end effector 1500may be inserted through or removed from a trocar cannula. Switch 2174corresponds to a −60° left articulation boundary and switch 2176corresponds to a +60° right articulation boundary. The −60° leftarticulation boundary may also be referred to herein as a “first maximumarticulated position” of the surgical end effector 1500 located on a“first side” or left side of the shaft axis SA. The left −60° angle (LAin FIG. 26) may also be referred to as a “first maximum articulationangle” and comprises the angle between the end effector axis EA and theshaft axis SA when the surgical end effector 1500 is in the firstmaximum articulated position. Similarly, the +60° right articulationboundary may also be referred to herein as a “second maximum articulatedposition” of the surgical end effector 1500 located on a “second side”or right side of the shaft axis SA. The right +60° angle (RA in FIG. 23)may also be referred to as a “second maximum articulation angle” andcomprises the angle between the end effector axis EA and the shaft axisSA when the surgical end effector 1500 is in the second maximumarticulated position. Thus, in the illustrated example, the positions ofswitches 2174 and 2176 establish the maximum articulation positions foreach articulation direction (left and right). In alternativearrangements, only two switches (2174, 2176) may be employed. Theswitches 2172, 2174, 2176 may comprise mechanical switches, Hall Effectswitches, etc.

In at least one example, the central home switch 2172 may also be usedto slow the articulation motor 2140 down prior to crossing the home orunarticulated position to allow the user to more easily determine whenthe end effector 1500 is aligned with the shaft assembly 1000 whichwould facilitate removable through a trocar, for example.

In on example, the geometric shape of the switch traveler in the regionthat is configured to engage the switches 2172, 2174, 2176 is selectedto have a width such that it engages the switches at “X” degrees fromhome and is able to remain in contact with the switch from =X degrees to−X degrees. In at least one example, X=approximately 10 degrees, but Xcould be other values as well. FIGS. 23-26 illustrate the relationshipbetween the switch traveler 2170 and switches 2172, 2174, 2176 and thearticulated position of the surgical end effector 1500. For example, inFIG. 25, when the switch traveler 2170 is in that position, the surgicalend effector 1500 may be in a first articulated position on the firstside of the shaft axis SA, wherein the surgical end effector axis EA ispositioned at a first articulation angle LA₁ relative to the shaft axisSA. Likewise, when the switch traveler 2170 is in the positionillustrated in FIG. 24, for example, the surgical end effector 1500 maybe in a second articulated position located on a second side of theshaft axis SA, wherein the surgical end effector axis EA is positionedat a second articulation angle LA₂ relative to the shaft axis SA. In atleast one arrangement, LA₁=LA₂=approximately 10°, for example.

FIG. 27 provides alternative geometrical shapes of the switch traveler2170 when viewed from the free end of the switch traveler 2170 that isconfigured to interact with switches 2172, 2174, 2176. FIG. 28 is agraphical comparison of motor speeds (for each geometrical shape 2170A,2170B, 2170C) to articulation angle. Switch traveler 2170A is alsodepicted in FIGS. 23-26. 2170C has an actuator point 21701C formedthereon for more precise actuation of the switches 2172, 2174, 2176. Ascan be seen in FIG. 28, the motor speed MS_(2C) only drops off when theactuator point 2171C is in actuation contact with one of the switches2172, 2174, 2176 which correspond to articulation angles of −60°, 0°,+60°. 2170A has a cross-sectional thickness CTA which results in a firstmotor speed MS_(1A) for an articulation angle range between −10° to+10°. For articulation angles between −10° to −60° and +10° to +60°, thearticulation motor 2140 may operate at a second motor speed MS_(2A) thatis greater than MS_(1A). 2170B has a cross-sectional thickness CT_(B)which is greater than the cross-sectional thickness CTA and results in afirst motor speed MS_(1B) for an articulation angle range between −20°to +20°. For articulation angles between −20° to −50° and +20° to +50°,the articulation motor 2140 may operate at a second motor speed MS_(2B)that is greater than MS_(1B). For articulation angles between −50 to −60and +50 to +60 the articulation motor 2140 may operate at a third motorspeed MS_(3B). In the illustrated example, MS_(3B)=MS_(1B).

In various arrangements, the control circuit board 400 may includeswitches 420, 422, 424, 426 that define the articulation limits as wellas a latchable or relay switch 428 that controls the center or homeposition of the end effector. See FIG. 28A. In such arrangement, as thearticulation motor 2140 drives the end effector across the straight orhome position, the latchable or relay switch 428 could be tripped whichwould deactivate the articulation motor 2140. Releasing the articulationcontrol switch 2180 could activate a bypass relay which could deactivatethe center or home switch 2172 and pressing the control switch 2180again could allow the articulation to continue through the homeposition. See FIG. 28A.

FIGS. 29-33 illustrate a surgical instrument 3010 that is similar tosurgical instrument 10 except for the differences discussed below.Surgical instrument 3010 comprises a shaft assembly 4000 that is similarto shaft assembly 1000. The elongated shaft assembly 4000 is operablycoupled to a housing 3100 that comprises a handle 3110. Housing 3100 maybe similar to housing 100 described above, except for the differencesdiscussed below. Portions of an example of elongated shaft assembly 4000are depicted in FIG. 30. Those elements that are the same or identicalto the elements of shaft assembly 1000 have been identified with likeelement numbers. The surgical instrument 3010 comprises an end effector1500 (as described above) that is movably coupled to a spine assembly5200. The spine assembly 5200 is configured to, one, slidably support afiring member assembly 1900 therein and, two, slidably support a closuremember assembly 6000 which extends around the spine shaft 5200. Theclosure member assembly 6000 is similar to closure member assembly 2000described above, except for the differences discussed below. The closuremember assembly 6000 comprises a proximal closure tube or closure membersegment 6010 that is similar to proximal closure tube segment 2010. Theproximal closure tube segment 6010 interfaces with a closure shuttlethat is operably supported in housing 3100 in the manner discussed aboveor described in various references that have been incorporated herein byreference. The surgical instrument also comprises a firing drive system500 that is configured to apply firing motions to the firing memberassembly 1900 in the shaft assembly 4000. As described above, the firingdrive system 500 includes a motor driven longitudinally-movable drivemember 530. Actuation of the motor can be controlled by a firing trigger540 that is pivotally supported on the handle 3110.

As was also discussed above, the shaft assembly 4000 further includes afiring member assembly 1900 that is supported for axial travel withinthe spine shaft 1210. The firing member assembly 1900 includes anintermediate firing shaft portion 1910 that is configured for attachmentto a distal cutting portion or knife bar 1930. The intermediate firingshaft portion 1910 may include a longitudinal slot 1912 in the distalend thereof which can be configured to receive a tab 1932 on theproximal end of the distal knife bar 1930. The longitudinal slot 1932and the proximal end tab 1932 can be sized and configured to permitrelative movement therebetween and can comprise a slip joint 1940. Theslip joint 1940 can permit the knife bar 1930 to move axially relativeto the intermediate firing shaft portion 1910 to accommodatearticulation of the end effector 1500, for example. The knife bar 1910includes a knife portion 1950.

In the illustrated example, the surgical end effector 1500 isselectively articulatable about a articulation axis AA by anarticulation drive system 6100. In at least one example, articulationdrive system 6100 is configured to convert a linear stroke of theintermediate firing shaft portion 1910 to a rotary articulation motionthat can be employed to articulate the surgical end effector 1500relative to the elongated shaft assembly 4000. In one form, thearticulation drive system 6100 includes a proximal articulation driver6110 that is operably coupled to an intermediate articulation driver6120 that pivotally coupled to a distal articulation link 6130 as willbe discussed in further detail below.

Turning now to FIGS. 31, 32A and 32B, in at least one form, thearticulation drive system comprises an articulation clutch assembly 6300that is operably supported in the nozzle assembly 6250 that is rotatablycoupled to the housing 3100 as was described above. In the illustratedexample, the articulation clutch assembly 6300 comprises a clutchmounting member 6302 that is fixedly attached to the nozzle assembly6250. Movably supported within the clutch mounting member 6302 is aclutch shifter assembly 6310. In one form, the clutch shifter assembly6310 includes first and second laterally opposed lock assemblies 6320,6330 that are movable in directions that are transverse to the shaftaxis SA. This transverse locking movement is represented by arrows L inFIGS. 32A and 32B. In the illustrated example, the first lock assembly6320 includes a first movable lock support 6322 that supports a firstclutch lock 6324. The first clutch lock 6324 is configured to lockinglyengage a first lock groove 1911 in the intermediate firing shaft portion1910. First biasing members or springs 6328 serve to bias the first lockassembly 6320 towards the intermediate firing shaft portion 1910 tocause the first clutch lock 6324 to lockingly engage the first lockgroove 1911 in the intermediate firing shaft portion 1910 as shown inFIG. 32A.

Similarly, the second lock assembly 6330 includes a second movable locksupport 6332 that supported a second clutch lock 6334. The second clutchlock 6334 is configured to lockingly engage a second lock groove 1913 inthe intermediate firing shaft portion 1910. Second biasing members orsprings 6338 serve to bias the second lock assembly 6330 towards theintermediate firing shaft portion 1910 to cause the second clutch lock6334 to lockingly engage the second lock groove 1913 in the intermediatefiring shaft portion 1910 as shown in FIG. 32A.

In the illustrated example, the articulation clutch assembly 6300further comprises a clutch driver rack 6340 that is attached thereto soas to axially move with the first and second clutch locks 6324, 6334,while permitting the first and second clutch locks to move transverselyrelative to the shaft axis between “locked” or “engaged” positions and“unlocked” or “disengaged” positions. See FIG. 31. The clutch driverrack 6340 is in meshing engagement with a clutch gear assembly 6350 thatincludes a rack gear 6352 that is in meshing engagement with the clutchdriver rack 6340 and is attached by a first transfer shaft 6353 to firstand second meshing clutch bevel gears 6354, 6356. Still referring toFIG. 31, the second clutch bevel gear 6356 is attached to a secondtransfer shaft 6358 that has a transfer drive gear 6360 attachedthereto. The transfer drive gear 6360 is in meshing engagement with anidler gear 6362 that is in meshing engagement with a proximalarticulation drive gear 6118 formed on a proximal end of the proximalarticulation driver 6110. Thus, axial movement of the clutch driver rack6340 will ultimately result in the rotation of the proximal articulationdriver 6110 through the gear arrangements described above. Such rotationof the proximal articulation driver 6110 in the first direction willcause the intermediate articulation driver 6120 to move in the proximaldirection and cause the surgical end effector 1500 to articulate in afirst articulation direction. Likewise, axial movement of the clutchdriver rack 6340 in proximal direction PD will cause the proximalarticulation driver 6110 to rotate in a second rotary direction andthereby cause the intermediate articulation driver to move in the distaldirection DD. Movement of the intermediate articulation driver 6120 inthe distal direction DD causes the surgical end effector 1500 toarticulate in a second articulation direction.

FIG. 32A illustrates the articulation clutch assembly 6300 in an engagedor locked position with the intermediate firing shaft portion 1910 ofthe firing shaft assembly 1900. When in that position, axial movement ofthe intermediate firing shaft portion 1910 (caused by actuating thefiring trigger 540 as described above), will result in the axialmovement of the articulation clutch driver rack 6340 and ultimatelyresult in the articulation of the surgical end effector as describedherein. The first biasing members 6328 and the second biasing members6338 bias the clutch assembly 6300 in this normally engaged position.FIG. 32A illustrates the proximal closure tube segment 6010 in itsproximal-most, unactuated position that results in the jaws 1610, 1610being in the open position. Thus, with the jaws in the open position,actuation of the firing drive system will result in the articulation ofthe surgical end effector 1500.

After the clinician has articulated the surgical end effector in thedesired articulated position, the clinician may then commence the jawclosing process by actuating the closure system by actuating the closuresystem by depressing the closure trigger 332. As can be seen in FIGS.32A and 32B, the clutch assembly protrudes through a clutch opening 6011in the proximal closure tube segment 6010. As was discussed above,depressing the closure trigger 332 causes the proximal closure tubesegment 6010 to axially move in the distal direction DD. As the proximalclosure tube segment 6010 moves distally, it contacts a first camsurface 6323 on the first movable lock support 6322 and a second camsurface 6333 on the second movable lock support 6332 to move the firstand second lock supports 6322, 6332 transversely in opposite directionsaway from the shaft axis. Such movement of the first and second movablelock supports 6322, 6332 causes the first and second clutch locks 6324,6334 to disengage the first lock groove 1911 and the second lock groove1913 in the intermediate firing shaft portion 1910 as shown in FIG. 32B.Thus, the articulation clutch assembly 6300 has disengaged thearticulation system from the firing drive system and the clinician cannow actuate the firing drive system while the surgical end effectorremains articulated.

In the illustrated example, the articulation drive system also includesan articulation lock arrangement 6400 for retaining the surgical endeffector in an articulated position after the articulation drive systemhas been deactivated. More particularly and with reference to FIG. 33,the distal end portion 6112 of the proximal articulation driver 6110includes a threaded portion 6114 formed thereon. In one arrangement thethreaded portion 6114 comprises an ACME thread that can be dropped intoa threaded passage segment 6122 in intermediate articulation driver6120. The intermediate articulation driver 6120 is slidably supported ina distal driver cavity 5202 in the spine shaft 5200. As indicated above,the intermediate articulation driver 6120 is pivotally pinned to thedistal articulation link 6130. The distal articulation link 6130 extendstransversely across the shaft axis SA and is pivotally pinned to aproximal end of an elongated channel 1520. As can be seen in FIG. 33, ashoulder 6119 is formed on the proximal articulation driver 6110 and isrotatably received within a shoulder cavity 5204 in the spine shaft5200. Rotation of the proximal articulation driver 6110 causes linear oraxial motion of the intermediate articulation driver 6120 which causesthe distal articulation link 6130 to articulate the elongated channel1520. The shoulder 6119 serves to support the proximal articulationdriver 6110 during operation and resists motion of the proximalarticulation driver 6110 when encountering external forces that try tounintentionally de-articulate the end effector. The ACME threadarrangement 6116 establishes friction with the threaded passage segment6122 in intermediate articulation driver 6120 so as to function as anarticulation lock when the application of the rotary articulation motionto the proximal articulation driver 6110 has been discontinued. In atleast one arrangement, the ACME thread arrangement 6116 may have athread angle of less than 17° and be “self-locking”. Other articulationlock arrangements may also be employed.

FIGS. 34-38 depict a previous motor-driven surgical cutting andfastening instrument 11010 that may or may not be reused. The instrument11010 includes a housing 11012 that comprises a handle 11014 that isconfigured to be grasped, manipulated and actuated by the clinician. Thehousing 11012 is configured for operable attachment to aninterchangeable shaft assembly 11200 that has a surgical end effector11300 operably coupled thereto that is configured to perform one or moresurgical tasks or procedures.

The housing 11012 depicted in FIG. 34 is shown in connection with aninterchangeable shaft assembly 11200 (FIGS. 35, 37 and 38) that includesan end effector 11300 that comprises a surgical cutting and fasteningdevice that is configured to operably support a surgical staplecartridge 4000 therein. The housing 11012 may be configured for use inconnection with interchangeable shaft assemblies that include endeffectors that are adapted to support different sizes and types ofstaple cartridges, have different shaft lengths, sizes, and types, etc.In addition, the housing 11012 may also be effectively employed with avariety of other interchangeable shaft assemblies including thoseassemblies that are configured to apply other motions and forms ofenergy such as, for example, radio frequency (RF) energy, ultrasonicenergy and/or motion to end effector arrangements adapted for use inconnection with various surgical applications and procedures.Furthermore, the end effectors, shaft assemblies, handles, surgicalinstruments, and/or surgical instrument systems can utilize any suitablefastener, or fasteners, to fasten tissue. For instance, a fastenercartridge comprising a plurality of fasteners removably stored thereincan be removably inserted into and/or attached to the end effector of ashaft assembly.

Various aspects of the shaft assembly 11200 may also be effectivelyemployed in connection with robotically-controlled surgical systems.Thus, the term “housing” may also encompass a housing or similar portionof a robotic system that houses or otherwise operably supports at leastone drive system that is configured to generate and apply at least onecontrol motion which could be used to actuate the interchangeable shaftassemblies disclosed herein and their respective equivalents. The term“frame” may refer to a portion of a handheld surgical instrument. Theterm “frame” may also represent a portion of a robotically controlledsurgical instrument and/or a portion of the robotic system that may beused to operably control a surgical instrument. In addition, variouscomponents may be “housed” or contained in the housing or variouscomponents may be “associated with” a housing. In such instances, thecomponents may not be contained with the housing or supported directlyby the housing.

The illustrated embodiment is an endoscopic instrument and, in general,the embodiments of the surgical instrument 11010 described herein areendoscopic surgical cutting and fastening instruments. It should benoted, however, that according to various embodiments, the instrumentmay be a non-endoscopic surgical cutting and fastening instrument, forexample. Various surgical instruments are disclosed in U.S. Pat. No.7,845,537, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES;U.S. Pat. No. 8,608,045, entitled POWERED SURGICAL CUTTING AND STAPLINGAPPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM; and U.S. Pat. No.9,050,083, entitled MOTORIZED SURGICAL INSTRUMENT, the entiredisclosures of which are hereby incorporated by reference herein.

FIG. 34 illustrates the surgical instrument 11010 with a previousinterchangeable shaft assembly 11200 operably coupled thereto. FIG. 35illustrates the interchangeable shaft assembly 11200 detached from thehousing 11012 or handle 11014. As can be seen in FIG. 36, the handle11014 may comprise a pair of interconnectable handle housing segments11016 and 11018 that may be interconnected by screws, snap features,adhesive, etc. In the illustrated arrangement, the handle housingsegments 11016, 11018 cooperate to form a pistol grip portion 11019 thatcan be gripped and manipulated by the clinician. As will be discussed infurther detail below, the handle 11014 operably supports a plurality ofdrive systems therein that are configured to generate and apply variouscontrol motions to corresponding portions of the interchangeable shaftassembly that is operably attached thereto.

Referring now to FIG. 36, the handle 11014 may further include a frame11020 that operably supports a plurality of drive systems. For example,the frame 11020 can operably support a “first” or closure drive system,generally designated as 11030, which may be employed to apply closingand opening motions to the interchangeable shaft assembly 11200 that isoperably attached or coupled thereto. In at least one form, the closuredrive system 11030 may include an actuator in the form of a closuretrigger 11032 that is pivotally supported by the frame 11020. Morespecifically, as illustrated in FIG. 36, the closure trigger 11032 ispivotally coupled to the housing 11014 by a pin 11033. Such arrangementenables the closure trigger 11032 to be manipulated by a clinician suchthat when the clinician grips the pistol grip portion 11019 of thehandle 11014, the closure trigger 11032 may be easily pivoted from astarting or “unactuated” position to an “actuated” position and moreparticularly to a fully compressed or fully actuated position. Theclosure trigger 11032 may be biased into the unactuated position byspring or other biasing arrangement (not shown). In various forms, theclosure drive system 11030 further includes a closure linkage assembly11034 that is pivotally coupled to the closure trigger 11032. As can beseen in FIG. 36, the closure linkage assembly 11034 may include a firstclosure link 11036 and a second closure link 11038 that are pivotallycoupled to the closure trigger 11032 by a pin 11035. The second closurelink 11038 may also be referred to herein as an “attachment member” andinclude a transverse attachment pin 11037.

Still referring to FIG. 36, it can be observed that the first closurelink 11036 may have a locking wall or end 11039 thereon that isconfigured to cooperate with a closure release assembly 11060 that ispivotally coupled to the frame 11020. In at least one form, the closurerelease assembly 11060 may comprise a release button assembly 11062 thathas a distally protruding locking pawl 11064 formed thereon. The releasebutton assembly 11062 may be pivoted in a counterclockwise direction bya release spring (not shown). As the clinician depresses the closuretrigger 11032 from its unactuated position towards the pistol gripportion 11019 of the handle 11014, the first closure link 11036 pivotsupward to a point wherein the locking pawl 11064 drops into retainingengagement with the locking wall 11039 on the first closure link 11036thereby preventing the closure trigger 11032 from returning to theunactuated position. Thus, the closure release assembly 11060 serves tolock the closure trigger 11032 in the fully actuated position. When theclinician desires to unlock the closure trigger 11032 to permit it to bebiased to the unactuated position, the clinician simply pivots theclosure release button assembly 11062 such that the locking pawl 11064is moved out of engagement with the locking wall 11039 on the firstclosure link 11036. When the locking pawl 11064 has been moved out ofengagement with the first closure link 11036, the closure trigger 11032may pivot back to the unactuated position. Other closure trigger lockingand release arrangements may also be employed.

An arm 11061 may extend from the closure release button 11062. Amagnetic element 11063, such as a permanent magnet, for example, may bemounted to the arm 11061. When the closure release button 11062 isrotated from its first position to its second position, the magneticelement 11063 can move toward a circuit board 11100. The circuit board11100 can include at least one sensor that is configured to detect themovement of the magnetic element 11063. In at least one embodiment, forexample, a “Hall Effect” sensor (not shown) can be mounted to the bottomsurface of the circuit board 11100. The Hall Effect sensor can beconfigured to detect changes in a magnetic field surrounding the HallEffect sensor caused by the movement of the magnetic element 11063. TheHall Effect sensor can be in signal communication with amicrocontroller, for example, which can determine whether the closurerelease button 11062 is in its first position, which is associated withthe unactuated position of the closure trigger 11032 and the openconfiguration of the end effector, its second position, which isassociated with the actuated position of the closure trigger 11032 andthe closed configuration of the end effector, and/or any positionbetween the first position and the second position.

In at least one form, the handle 11014 and the frame 11020 may operablysupport another drive system referred to herein as a firing drive system11080 that is configured to apply firing motions to correspondingportions of the interchangeable shaft assembly attached thereto. Thefiring drive system may 11080 also be referred to herein as a “seconddrive system”. The firing drive system 11080 may employ an electricmotor 11082 that is located in the pistol grip portion 1019 of thehandle 1014. In various forms, the motor 11082 may be a DC brusheddriving motor having a maximum rotation of, approximately, 25,000 RPM,for example. In other arrangements, the motor may include a brushlessmotor, a cordless motor, a synchronous motor, a stepper motor, or anyother suitable electric motor. The motor 11082 may be powered by a powersource 11090 that in one form may comprise a removable power pack 11092.As can be seen in FIG. 36, for example, the power pack 11092 maycomprise a proximal housing portion 11094 that is configured forattachment to a distal housing portion 11096. The proximal housingportion 11094 and the distal housing portion 11096 are configured tooperably support a plurality of batteries 11098 therein. Batteries 11098may each comprise, for example, a Lithium Ion (“LI”) or other suitablebattery. The distal housing portion 11096 is configured for removableoperable attachment to the circuit board assembly 11100 which is alsooperably coupled to the motor 11082. A number of batteries 11098 may beconnected in series may be used as the power source for the surgicalinstrument 11010. In addition, the power source 11090 may be replaceableand/or rechargeable.

As outlined above with respect to other various forms, the electricmotor 11082 can include a rotatable shaft (not shown) that operablyinterfaces with a gear reducer assembly 11084 that is mounted in meshingengagement with a with a set, or rack, of drive teeth 1122 on alongitudinally-movable drive member 11120. In use, a voltage polarityprovided by the power source 11090 can operate the electric motor 11082in a clockwise direction wherein the voltage polarity applied to theelectric motor by the battery can be reversed in order to operate theelectric motor 11082 in a counter-clockwise direction. When the electricmotor 11082 is rotated in one direction, the drive member 11120 will beaxially driven in the distal direction “DD”. When the motor 11082 isdriven in the opposite rotary direction, the drive member 11120 will beaxially driven in a proximal direction “PD”. The handle 11014 caninclude a switch which can be configured to reverse the polarity appliedto the electric motor 11082 by the power source 11090. As with the otherforms described herein, the handle 11014 can also include a sensor thatis configured to detect the position of the drive member 11120 and/orthe direction in which the drive member 11120 is being moved.

Actuation of the motor 11082 can be controlled by a firing trigger 11130that is pivotally supported on the handle 11014. The firing trigger11130 may be pivoted between an unactuated position and an actuatedposition. The firing trigger 11130 may be biased into the unactuatedposition by a spring 11132 or other biasing arrangement such that whenthe clinician releases the firing trigger 11130, it may be pivoted orotherwise returned to the unactuated position by the spring 11132 orbiasing arrangement. In at least one form, the firing trigger 11130 canbe positioned “outboard” of the closure trigger 11032 as was discussedabove. In at least one form, a firing trigger safety button 11134 may bepivotally mounted to the closure trigger 11032 by pin 11035. The safetybutton 11134 may be positioned between the firing trigger 11130 and theclosure trigger 11032 and have a pivot arm 1136 protruding therefrom.When the closure trigger 11032 is in the unactuated position, the safetybutton 11134 is contained in the handle 11014 where the clinician cannotreadily access it and move it between a safety position preventingactuation of the firing trigger 11130 and a firing position wherein thefiring trigger 11130 may be fired. As the clinician depresses theclosure trigger 11032, the safety button 1134 and the firing trigger11130 pivot down wherein they can then be manipulated by the clinician.

As indicated above, in at least one form, the longitudinally movabledrive member 11120 has a rack of teeth 11122 formed thereon for meshingengagement with a corresponding drive gear 11086 of the gear reducerassembly 11084. At least one form also includes a manually-actuatable“bailout” assembly 11140 that is configured to enable the clinician tomanually retract the longitudinally movable drive member 11120 shouldthe motor 11082 become disabled. The bailout assembly 11140 may includea lever or bailout handle assembly 11142 that is configured to bemanually pivoted into ratcheting engagement with teeth 11124 alsoprovided in the drive member 11120. Thus, the clinician can manuallyretract the drive member 11120 by using the bailout handle assembly11142 to ratchet the drive member 11120 in the proximal direction “PD”.U.S. Pat. No. 8,608,045, entitled POWERED SURGICAL CUTTING AND STAPLINGAPPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, discloses bailoutarrangements and other components, arrangements and systems that mayalso be employed with the various instruments disclosed herein. U.S.Pat. No. 8,608,045, is hereby incorporated by reference herein in itsentirety.

Turning now to FIGS. 35 and 38, the interchangeable shaft assembly 11200includes a surgical end effector 11300 that comprises an elongatedchannel 11310 that is configured to operably support a staple cartridge4000 therein. The end effector 1300 may further include an anvil 2000that is pivotally supported relative to the elongated channel 11310. Theinterchangeable shaft assembly 11200 may further include an articulationjoint 13020 and an articulation lock 12140 which can be configured toreleasably hold the end effector 11300 in a desired position relative toa shaft axis SA. Examples of various features of at least one form ofthe end effector 11300, the articulation joint 13020 and articulationlocks may be found in U.S. patent application Ser. No. 13/803,086, filedMar. 14, 2013, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING ANARTICULATION LOCK. The entire disclosure of U.S. patent application Ser.No. 13/803,086, filed Mar. 14, 2013, entitled ARTICULATABLE SURGICALINSTRUMENT COMPRISING AN ARTICULATION LOCK is hereby incorporated byreference herein. As can be seen in FIG. 38, the interchangeable shaftassembly 11200 can further include a proximal housing or nozzle 11201comprised of nozzle portions 11202 and 11203.

The interchangeable shaft assembly 11200 can further include a closuresystem or closure member assembly 13000 which can be utilized to closeand/or open the anvil 12000 of the end effector 11300. The shaftassembly 11200 can include a spine 11210 that is configured to, one,slidably support a firing member therein and, two, slidably support theclosure member assembly 13000 which extends around the spine 11210. Ascan be seen in FIG. 38, a distal end 11211 of spine 11210 terminates inan upper lug mount feature 11270 and in a lower lug mount feature 11280.The upper lug mount feature 11270 is formed with a lug slot 11272therein that is adapted to mountingly support an upper mounting link11274 therein. Similarly, the lower lug mount feature 11280 is formedwith a lug slot 11282 therein that is adapted to mountingly support alower mounting link 11284 therein. The upper mounting link 11274includes a pivot socket 11276 therein that is adapted to rotatablyreceive therein a pivot pin 11292 that is formed on a channel cap oranvil retainer 11290 that is attached to a proximal end portion 11312 ofthe elongated channel 11310. The lower mounting link 11284 includeslower pivot pin 11286 that adapted to be received within a pivot hole11314 formed in the proximal end portion 11312 of the elongated channel11310. See FIG. 38. The lower pivot pin 11286 is vertically aligned withthe pivot socket 11276 to define an articulation axis AA about which thesurgical end effector 11300 may articulate relative to the shaft axisSA. See FIG. 35.

In the illustrated example, the surgical end effector 11300 isselectively articulatable about the articulation axis AA by anarticulation system 12100. In one form, the articulation system 12100includes proximal articulation driver 12102 that is pivotally coupled toan articulation link 12120. As can be most particularly seen in FIG. 38,an offset attachment lug 12114 is formed on a distal end of the proximalarticulation driver 12102. A pivot hole 12116 is formed in the offsetattachment lug 12114 and is configured to pivotally receive therein aproximal link pin 12124 formed on the proximal end 12122 of thearticulation link 12120. A distal end 12126 of the articulation link12120 includes a pivot hole 12128 that is configured to pivotallyreceive therein a channel pin 11316 formed on the proximal end portion11312 of the elongated channel 11310. Thus, axial movement of proximalarticulation driver 12102 will thereby apply articulation motions to theelongated channel 11310 to thereby cause the surgical end effector 11300to articulate about the articulation axis AA relative to the spineassembly 11210. Further details concerning the construction andoperation of the articulation system 12100 may be found in variousreferences incorporated by reference herein including U.S. patentapplication Ser. No. 15/635,631, filed Jun. 28, 2017, entitled SURGICALINSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER, the entire disclosure ofwhich is hereby incorporated by reference herein. In variouscircumstances, the proximal articulation driver 12102 can be held inposition by an articulation lock 12140 when the proximal articulationdriver 12102 is not being moved in the proximal or distal directions.Additional details regarding an example of an articulation lock 12140may be found in U.S. patent application Ser. No. 15/635,631 as well asin other references incorporated by reference herein.

In various circumstances, the spine 11210 can comprise a proximal end11211 which is rotatably supported in a chassis 1240. In onearrangement, for example, the proximal end 11211 of the spine 11210 hasa thread 11214 formed thereon for threaded attachment to a spine bearing11216 configured to be supported within the chassis 11240. See FIG. 4.Such an arrangement facilitates rotatable attachment of the spine 11210to the chassis 11240 such that the spine 11210 may be selectivelyrotated about a shaft axis SA relative to the chassis 11240.

Referring primarily to FIG. 37, the interchangeable shaft assembly 11200includes a closure shuttle 11250 that is slidably supported within thechassis 11240 such that it may be axially moved relative thereto. Theclosure shuttle 11250 includes a pair of proximally-protruding hooks11252 that are configured for attachment to the attachment pin 11037(FIG. 36) that is attached to the second closure link 11038 as will bediscussed in further detail below. In at least one example, the closuremember assembly 13000 comprises a proximal closure member segment orproximal closure tube segment 13010 that has a proximal end 13012 thatis coupled to the closure shuttle 11250 for relative rotation thereto.For example, a U shaped connector 11263 is inserted into an annular slot13014 in the proximal end 13012 of the proximal closure member segment13010 and is retained within vertical slots 11253 in the closure shuttle11250. Such an arrangement serves to attach the proximal closure tubesegment 13010 to the closure shuttle 11250 for axial travel therewithwhile enabling the proximal closure tube segment 13010 to rotaterelative to the closure shuttle 11250 about the shaft axis SA. A closurespring 11268 is journaled on the proximal closure tube segment 13010 andserves to bias the proximal closure tube segment 13010 in the proximaldirection “PD” which can serve to pivot the closure trigger 11032 intothe unactuated position when the shaft assembly is operably coupled tothe handle 11014.

The interchangeable shaft assembly 11200 also includes an articulationjoint 13020. As can be seen in FIG. 38, for example, a distal closuremember or distal closure tube segment 13030 is coupled to the distal endof the proximal closure member or proximal closure tube segment 3010.The articulation joint 13020 includes a double pivot closure sleeveassembly 13022. According to various forms, the double pivot closuresleeve assembly 13022 includes an end effector closure tube 13050 havingupper and lower distally projecting tangs 13052, 13054. An upper doublepivot link 13056 includes upwardly projecting distal and proximal pivotpins that engage respectively an upper distal pin hole in the upperproximally projecting tang 13052 and an upper proximal pin hole in anupper distally projecting tang 13032 on the distal closure tube segment13030. A lower double pivot link 13058 includes upwardly projectingdistal and proximal pivot pins that engage respectively a lower distalpin hole in the lower proximally projecting tang 13054 and a lowerproximal pin hole in the lower distally projecting tang 13034. As willbe discussed in further detail below, the closure member or closure tubeassembly 13000 is translated distally (direction “DD”) to close theanvil 12000, for example, in response to the actuation of the closuretrigger 11032. The anvil 12000 is opened by proximally translating theclosure tube assembly 13000 which causes the end effector closure sleeveto interact with the anvil 12000 and pivot it to an open position.

As was also indicated above, the interchangeable shaft assembly 11200further includes a firing drive assembly 11900 that is supported foraxial travel within the shaft spine 11210. The firing drive assembly11900 includes an intermediate firing shaft portion 11222 that isconfigured for attachment to a distal cutting portion or knife bar11910. The intermediate firing shaft portion 11222 may include alongitudinal slot 11223 in the distal end thereof which can beconfigured to receive a tab 11912 on the proximal end of the distalknife bar 11910. The longitudinal slot 11223 and the proximal end tab11912 can be sized and configured to permit relative movementtherebetween and can comprise a slip joint 11914. The slip joint 11914can permit the intermediate firing shaft portion 11222 of the firingdrive to be moved to articulate the end effector 11300 without moving,or at least substantially moving, the knife bar 11910. Once the endeffector 11300 has been suitably oriented, the intermediate firing shaftportion 11222 can be advanced distally until a proximal sidewall of thelongitudinal slot 11223 comes into contact with the tab 11912 in orderto advance the knife bar 11910 and fire the staple cartridge 14000positioned within the channel 11310. The knife bar 11910 includes aknife portion 11920 that includes a blade or tissue cutting edge 11922and includes an upper anvil engagement tab 11924 and lower channelengagement tabs 11926. Various firing member configurations andoperations are disclosed in various other references incorporated hereinby reference.

As can be seen in FIG. 37, the shaft assembly 1200 further includes aswitch drum 11500 that is rotatably received on the proximal closuretube segment 13010. The switch drum 11500 comprises a hollow shaftsegment 11502 that has a shaft boss formed thereon for receive anoutwardly protruding actuation pin therein. In various circumstances,the actuation pin extends through a longitudinal slot provided in thelock sleeve to facilitate axial movement of the lock sleeve when it isengaged with the articulation driver. A rotary torsion spring 11420 isconfigured to engage the boss on the switch drum 11500 and a portion ofthe nozzle housing 11203 to apply a biasing force to the switch drum11500. The switch drum 11500 can further comprise at least partiallycircumferential openings defined therein which can be configured toreceive circumferential mounts extending from the nozzle halves 11202,11203 and permit relative rotation, but not translation, between theswitch drum 11500 and the proximal nozzle 11201. The mounts also extendthrough openings 13011 in the proximal closure tube segment 13010 to beseated in recesses in the spine shaft 11210. Rotation of the switch drum11500 about the shaft axis SA will ultimately result in the rotation ofthe actuation pin and the lock sleeve between its engaged and disengagedpositions. In one arrangement, the rotation of the switch drum 11500 maybe linked to the axial advancement of the closure tube or closuremember. Thus, in essence, actuation of the closure system may operablyengage and disengage the articulation drive system with the firing drivesystem in the various manners described in further detail in U.S. patentapplication Ser. No. 13/803,086 and U.S. Pat. No. 9,913,642, entitledSURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM, the entire disclosuresof each being hereby incorporated by reference herein. For example, whenthe closure tube is in its proximal-most position corresponding to a“jaws open” position, the closure tube 13010 will have positioned theswitch drum 11500 so as to link the articulation system with the firingdrive system. When, the closure tube has been moved to its distal-mostposition corresponding to a “jaws closed” position, the closure tube hasrotated the switch drum 1500 to a position wherein the articulationsystem is delinked from the firing drive system.

As also illustrated in FIG. 37, the shaft assembly 11200 can comprise aslip ring assembly 11600 which can be configured to conduct electricalpower to and/or from the end effector 11300 and/or communicate signalsto and/or from the end effector 11300, for example. The slip ringassembly 11600 can comprise a proximal connector flange 11604 that ismounted to a chassis flange 11242 that extends from the chassis 11240and a distal connector flange that is positioned within a slot definedin the shaft housings. The proximal connector flange 11604 can comprisea first face and the distal connector flange can comprise a second facewhich is positioned adjacent to and movable relative to the first face.The distal connector flange can rotate relative to the proximalconnector flange 11604 about the shaft axis SA. The proximal connectorflange 11604 can comprise a plurality of concentric, or at leastsubstantially concentric, conductors defined in the first face thereof.A connector can be mounted on the proximal side of the connector flangeand may have a plurality of contacts wherein each contact corresponds toand is in electrical contact with one of the conductors. Such anarrangement permits relative rotation between the proximal connectorflange 11604 and the distal connector flange while maintainingelectrical contact therebetween. The proximal connector flange 11604 caninclude an electrical connector 11606 which can place the conductors insignal communication with a shaft circuit board 11610 mounted to theshaft chassis 11240, for example. In at least one instance, a wiringharness comprising a plurality of conductors can extend between theelectrical connector 11606 and the shaft circuit board 1610. Theelectrical connector 11606 may extend proximally through a connectoropening 11243 defined in the chassis mounting flange 11242. See FIG. 38.Further details regarding slip ring assembly 11600 may be found in U.S.patent application Ser. No. 13/803,086, U.S. patent application Ser. No.13/800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM,filed on Mar. 13, 2013, and U.S. Pat. No. 9,345,481, entitled STAPLECARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, for example. U.S. patentapplication Ser. No. 13/803,086, U.S. patent application Ser. No.13/800,067 and U.S. Pat. No. 9,345,481 are each hereby incorporated byreference herein in their respective entireties.

As discussed above, the shaft assembly 11200 includes a proximal portionwhich is fixably mounted to the handle 11014 and a distal portion whichis rotatable about a longitudinal axis. The rotatable distal shaftportion can be rotated relative to the proximal portion about the slipring assembly 11600, as discussed above. The distal connector flange ofthe slip ring assembly 11600 can be positioned within the rotatabledistal shaft portion. Moreover, further to the above, the switch drum11500 can also be positioned within the rotatable distal shaft portion.When the rotatable distal shaft portion is rotated, the distal connectorflange and the switch drum 11500 can be rotated synchronously with oneanother. In addition, the switch drum 11500 can be rotated between afirst position and a second position relative to the distal connectorflange. When the switch drum 11500 is in its first position, thearticulation drive system may be operably disengaged from the firingdrive system and, thus, the operation of the firing drive system may notarticulate the end effector 11300 of the shaft assembly 11200. When theswitch drum 11500 is in its second position, the articulation drivesystem may be operably engaged with the firing drive system and, thus,the operation of the firing drive system may articulate the end effector11300 of the shaft assembly 1200. When the switch drum 11500 is movedbetween its first position and its second position, the switch drum11500 is moved relative to distal connector flange. In variousinstances, the shaft assembly 11200 can comprise at least one sensorconfigured to detect the position of the switch drum 11500.

Referring again to FIG. 37, the chassis 11240 includes at least one, andpreferably two, tapered attachment portions 11244 formed thereon thatare adapted to be received within corresponding dovetail slots 11702formed within a distal attachment flange portion 11700 of the frame11020. See FIG. 36. Each dovetail slot 11702 may be tapered or, statedanother way, be somewhat V-shaped to seatingly receive the attachmentportions 11244 therein. As can be further seen in FIGS. 37 and 38, ashaft attachment lug 11226 is formed on the proximal end of theintermediate firing shaft 11222. When the interchangeable shaft assembly11200 is coupled to the handle 11014, the shaft attachment lug 1226 isreceived in a firing shaft attachment cradle 11126 formed in the distalend 11125 of the longitudinal drive member 11120. See FIG. 36.

Various shaft assembly embodiments employ a latch system 11710 forremovably coupling the shaft assembly 11200 to the housing 11012 andmore specifically to the frame 11020. As can be seen in FIG. 37, forexample, in at least one form, the latch system 11710 includes a lockmember or lock yoke 11712 that is movably coupled to the chassis 11240.In the illustrated embodiment, for example, the lock yoke 11712 has aU-shape with two spaced downwardly extending legs 11714. The legs 11714each have a pivot lug 11715 formed thereon that are adapted to bereceived in corresponding holes 11245 formed in the chassis 11240. Sucharrangement facilitates pivotal attachment of the lock yoke 11712 to thechassis 11240. The lock yoke 11712 may include two proximally protrudinglock lugs 11716 that are configured for releasable engagement withcorresponding lock detents or grooves 11704 in the distal attachmentflange 11700 of the frame 11020. See FIG. 36. In various forms, the lockyoke 11712 is biased in the proximal direction by spring or biasingmember (not shown). Actuation of the lock yoke 11712 may be accomplishedby a latch button 11722 that is slidably mounted on a latch actuatorassembly 11720 that is mounted to the chassis 11240. The latch button11722 may be biased in a proximal direction relative to the lock yoke11712. The lock yoke 11712 may be moved to an unlocked position bybiasing the latch button the in distal direction which also causes thelock yoke 11712 to pivot out of retaining engagement with the distalattachment flange 11700 of the frame 11020. When the lock yoke 11712 isin “retaining engagement” with the distal attachment flange 11700 of theframe 11020, the lock lugs 11716 are retainingly seated within thecorresponding lock detents or grooves 11704 in the distal attachmentflange 11700.

When employing an interchangeable shaft assembly that includes an endeffector of the type described herein that is adapted to cut and fastentissue, as well as other types of end effectors, it may be desirable toprevent inadvertent detachment of the interchangeable shaft assemblyfrom the housing during actuation of the end effector. For example, inuse the clinician may actuate the closure trigger 11032 to grasp andmanipulate the target tissue into a desired position. Once the targettissue is positioned within the end effector 11300 in a desiredorientation, the clinician may then fully actuate the closure trigger11032 to close the anvil 12000 and clamp the target tissue in positionfor cutting and stapling. In that instance, the first drive system 11030has been fully actuated. After the target tissue has been clamped in theend effector 11300, it may be desirable to prevent the inadvertentdetachment of the shaft assembly 11200 from the housing 11012. One formof the latch system 11710 is configured to prevent such inadvertentdetachment.

As can be most particularly seen in FIG. 37, the lock yoke 11712includes at least one and preferably two lock hooks 11718 that areadapted to contact corresponding lock lug portions 11 that are formed onthe closure shuttle 11250. When the closure shuttle 11250 is in anunactuated position (i.e., the first drive system 11030 is unactuatedand the anvil 12000 is open), the lock yoke 11712 may be pivoted in adistal direction to unlock the interchangeable shaft assembly 11200 fromthe housing 11012. When in that position, the lock hooks 11718 do notcontact the lock lug portions 11256 on the closure shuttle 11250.However, when the closure shuttle 11250 is moved to an actuated position(i.e., the first drive system 11030 is actuated and the anvil 11306 isin the closed position), the lock yoke 11712 is prevented from beingpivoted to an unlocked position. Stated another way, if the clinicianwere to attempt to pivot the lock yoke 11712 to an unlocked position or,for example, the lock yoke 11712 was in advertently bumped or contactedin a manner that might otherwise cause it to pivot distally, the lockhooks 11718 on the lock yoke 11712 will contact the lock lugs 11256 onthe closure shuttle 11250 and prevent movement of the lock yoke 11712 toan unlocked position.

Attachment of the interchangeable shaft assembly 11200 to the handle11014 will now be described. To commence the coupling process, theclinician may position the chassis 11240 of the interchangeable shaftassembly 11200 above or adjacent to the distal attachment flange 11700of the frame 11020 such that the tapered attachment portions 11244formed on the chassis 11240 are aligned with the dovetail slots 11702 inthe frame 11020. The clinician may then move the shaft assembly 11200along an installation axis that is perpendicular to the shaft axis SA toseat the attachment portions 11244 in “operable engagement” with thecorresponding dovetail receiving slots 11702. In doing so, the shaftattachment lug 11226 on the intermediate firing shaft 11222 will also beseated in the cradle 11126 in the longitudinally movable drive member11120 and the portions of pin 11037 on the second closure link 1038 willbe seated in the corresponding hooks 11252 in the closure yoke 11250. Asused herein, the term “operable engagement” in the context of twocomponents means that the two components are sufficiently engaged witheach other so that upon application of an actuation motion thereto, thecomponents may carry out their intended action, function and/orprocedure.

At least five systems of the interchangeable shaft assembly 11200 can beoperably coupled with at least five corresponding systems of the handle11014. A first system can comprise a frame system which couples and/oraligns the frame or spine of the shaft assembly 11200 with the frame11020 of the handle 11014. Another system can comprise a closure drivesystem 11030 which can operably connect the closure trigger 11032 of thehandle 11014 and the closure tube assembly 13000 and the anvil 12000 ofthe shaft assembly 11200. As outlined above, the closure tube attachmentyoke 1250 of the shaft assembly 11200 can be engaged with the pin 11037on the second closure link 11038. Another system can comprise the firingdrive system 11080 which can operably connect the firing trigger 11130of the handle 1014 with the intermediate firing shaft 11222 of the shaftassembly 11200. As outlined above, the shaft attachment lug 11226 can beoperably connected with the cradle 11126 of the longitudinal drivemember 11120. Another system can comprise an electrical system which cansignal to a controller in the handle 11014, such as microcontroller, forexample, that a shaft assembly, such as shaft assembly 11200, forexample, has been operably engaged with the handle 11014 and/or, two,conduct power and/or communication signals between the shaft assembly11200 and the handle 11014. For instance, the shaft assembly 11200 caninclude an electrical connector 11810 that is operably mounted to theshaft circuit board 11610. The electrical connector 11810 is configuredfor mating engagement with a corresponding electrical connector 11800 onthe handle control board 11100. Further details regaining the circuitryand control systems may be found in U.S. patent application Ser. No.13/803,086, and U.S. patent application Ser. No. 14/226,142, the entiredisclosures of each which were previously incorporated by referenceherein. The fifth system may consist of the latching system forreleasably locking the shaft assembly 11200 to the handle 11014.

When using an end effector 11300 of the type and construction describedherein, a clinician manipulates the first and second jaws (the anvil12000 and the elongated channel 11310 that has a surgical staplecartridge operably mounted therein), to capture the tissue to be cut andstapled (the “target tissue”) therebetween. As can be seen in FIG. 38,for example, a surgical staple cartridge 14000 comprises a cartridgebody 14010 that is configured to be removably supported within theelongated channel 11310. The cartridge body 14010 includes an elongatedcartridge slot 14016 that extends from a proximal end 14012 through thecartridge body 14010 to a distal end portion 14014 to enable the knifemember or firing member 11920 to pass therethrough. The cartridge body14010 further defines a cartridge deck surface 14020 on each side of theelongated slot 14016. A plurality of staple cavities 14022 are providedin the cartridge body 14010 on each side of the elongated slot 14016.Each cavity 14022 opens through the deck surface 14020 to removablysupport a surgical staple or staples therein. In at least one cartridgearrangement, three lines of staple cavities 14022 are provided on eachside of the elongated slot 14016. The lines are formed such that thestaples in a center line are staggered relative to the staples in thetwo adjacent outer lines. The staples are supported on staple driversthat are movably supported within each staple cavity. In at least somearrangements, the staple drivers are arranged to be contacted or “fired”upward when contacted by a cam member or camming portions associatedwith the knife member 11920, for example. In some arrangements, a wedgesled or camming sled is movably supported in the cartridge body and isadapted to be axially displaced through the cartridge body as the knifemember 11920 is axially deployed through the cartridge from the proximalend portion 14012 to the distal end portion 14014 of the cartridge body14010. The wedge sled includes a camming member or wedge associated witheach line of staple cavities so as to serially deploy the staple driverssupported therein. As the cam contacts a staple driver, the driver isdriven upwardly within the staple cavity driving the staple or staplessupported thereon out of the staple cavity through the clamped tissueand into forming contact with the staple-forming surface of the anvil.The wedge sled or camming member is located distal to the knife ortissue cutting edge of the knife or firing member 11920, so that thetissue is stapled prior to be severed by the tissue cutting edge.

Referring again to FIG. 38, the anvil 12000 in the illustrated exampleincludes an anvil body 12002 that terminates in anvil mounting portion12010. The anvil mounting portion 12010 is movably or pivotablysupported on the elongated channel 11310 for selective pivotal travelrelative thereto about a fixed anvil pivot axis PA that is transverse tothe shaft axis SA. In the illustrated arrangement, a pivot member oranvil trunnion 12012 extends laterally out of each lateral side of theanvil mounting portion 12010 to be received in a corresponding trunnioncradle 11316 formed in the upstanding walls 11315 of the proximal endportion 11312 of the elongated channel 11310. The anvil trunnions 12012are pivotally retained in their corresponding trunnion cradle 11316 bythe channel cap or anvil retainer 11290. The channel cap or anvilretainer 11290 includes a pair of attachment lugs that are configured tobe retainingly received within corresponding lug grooves or notchesformed in the upstanding walls 11315 of the proximal end portion 11312of the elongated channel 11310.

In at least one arrangement, the distal closure member or end effectorclosure tube 13050 employs two axially offset, proximal and distalpositive jaw opening features 13060 and 13062. The positive jaw openingfeatures 13060, 13062 are configured to interact with correspondingrelieved areas and stepped portions formed on the anvil mounting portion12010 as described in further detail in U.S. patent application Ser. No.15/635,631, filed Jun. 28, 2017, entitled SURGICAL INSTRUMENT WITHAXIALLY MOVABLE CLOSURE MEMBER, the entire disclosure which has beenherein incorporated by reference. Other jaw opening arrangements may beemployed.

FIG. 39 illustrates a portion of a shaft assembly 15200 that is similarto the previous shaft assembly 11200 except for the differencesdiscussed below. The details concerning the construction and operationof like components in both shaft assemblies will not be repeated for thesake of brevity. As will be discussed below, the shaft assembly may beused in connection with a housing that is similar to the previoushousing 11012. In the illustrated arrangement, the shaft assembly 15200includes a distal spine shaft segment 15210 that is configured to bepivotally coupled to a surgical end effector at an articulation joint toenable the surgical end effector to be articulated about an articulationaxis relative to the distal end of the distal spine shaft segment 15210by an articulation system 15100. In one form, the articulation system15100 includes proximal articulation driver 15102 that is pivotallycoupled to an articulation link in the manner described above. Axialmovement of proximal articulation driver 15102 applies articulationmotions to the surgical end effector to cause the surgical end effectorto articulate about the articulation axis relative to the spine assembly15210.

Shaft assembly 15200 also includes a closure system or closure memberassembly 17000 which can be utilized to close and/or open the jaws ofthe surgical end effector in the manner described above. The closuremember assembly 17000 includes a proximal closure member segment orproximal closure tube segment 17010 that is attached to a distal closuremember. The distal closure member forms a double pivot closure sleeveassembly with an end effector closure tube to facilitate articulation ofthe surgical end effector as was discussed above with respect to shaftassembly 11200.

Shaft assembly 15200 also includes a firing drive assembly 11900 that issupported for axial travel within the shaft spine 15210. The firingdrive assembly 11900 includes an intermediate firing shaft portion 11902that is configured for attachment to a distal cutting portion or knifebar as was discussed above.

Turning to FIG. 40, the chassis portion of the shaft assembly 15200, aswell as the closure shuttle arrangement, have been omitted for clarity.The proximal closure tube segment 17010 is supported in the closureshuttle in any of the various manner disclosed herein for axial traveltherewith. As was discussed above, the closure shuttle is axiallymovable within the chassis by means of actuation of the closure triggeror (other form of closure actuator). A proximal end portion 17012 of theproximal closure tube segment 17010 is coupled to the closure shuttlefor relative rotation thereto. Axial movement of the closure shuttleresults in axial movement of the closure member assembly 17000 to applyclosing and opening motions to the jaws of the surgical end effector. Asdescribed above, a shaft attachment lug 11904 is formed on the proximalend of the intermediate firing shaft 11902. When the shaft assembly15200 is coupled to the housing of the surgical instrument, the shaftattachment lug 11902 is received in a firing shaft attachment cradleformed in a distal end of a motor driven longitudinal drive member inthe manner described above.

The shaft assembly 15200 employs an a drive clutch assembly 16000 forselectively coupling the articulation system 15100 to the firing driveassembly 11900 such that the articulation system 15100 is actuatable bythe firing drive assembly 11900 when the jaws of the end effector areopen. When the jaws of the end effector are closed, the articulationsystem 15100 is locked in place out of engagement with the firing driveassembly such that the firing drive assembly 11900 can be actuatedwithout actuating the articulation system 15100. In the illustratedarrangement, a proximal end 15104 of the proximal articulation driver15102 is coupled to a clutch link 16010 that is journaled on theintermediate firing shaft 11902. Stated another way, the intermediatefiring shaft 11902 extends through a central shaft hole 16011 thatextends through the clutch link 16010. The clutch link 16010 issupported within a proximal spine shaft insert 16030 that is supportedproximal to the distal spine shaft segment 15210.

In the illustrated arrangement, the spine shaft insert 16030 includes anaxial link slot 16034 for axially supporting the clutch link 16010therein. The intermediate firing shaft 11902 extends through a centralshaft hole 16032 in the spine shaft insert 16030 and through the centralhole 16011 in the clutch link 16010 as shown in FIG. 43. The axial linkslot 16034 includes a lower axial slot 16036 (FIGS. 43 and 47) that isconfigured to slidably accommodate a lower support tab 16014 on theclutch link 16010. Such arrangement permits the clutch link 16010 tomove axially within the axial link slot 16034, but is prevented fromrotating therein.

As can be seen in FIGS. 43 and 44, a hook 15106 is formed on theproximal end 15104 of the proximal articulation driver 15102 andconfigured to be received in hook cavity 16013 in the clutch link 16010.The clutch link 16010 is configured to be engaged with or coupled to theintermediate firing shaft 11902 by a lock bar or lock member 16020 thatis slidably mounted in a slot 16012 in the clutch link 16010 forselectively radial travel therein. The lock member 10620 is radiallymovable within the slot 16012 between an engaged position (FIG. 49)wherein said lock member 16020 is received within and a radial locknotch 11906 in the intermediate firing shaft 11902.

The drive clutch assembly 16000 also includes a radially expandableclutch plate assembly 16050. As can be seen in FIGS. 45 and 46, in atleast one arrangement, the clutch plate assembly 16050 extends partiallyaround the proximal closure tube segment 17010. The clutch plateassembly 16050 may resemble a clamshell that includes a first clampsegment 16052 and a second clamp segment 16054 that are coupled togetheror interconnected by a living hinge 16056 that permits relative movementof the clamp segments 16052, 16054 radially inward and outward. Theclutch plate assembly 16035 is loosely retained on the proximal closuretube segment 17010 by a pair of C-clips 16066 that facilitate a smallamount of radial expansion of the clutch plate assembly 16030 whileretaining the clutch plate assembly on the proximal closure tube segment17010.

In the illustrated arrangement, the lock member 16020 extends through anaxial slot 17014 in the proximal closure tube segment 17010 (FIGS. 43,49, 53) and an axial slot 16058 formed in the second clamp segment 16054(FIGS. 43 and 45). The axial slot 16058 defines two inwardly extendingledges 16060 that are engageable by two laterally extending fins 16022formed on the lock member 16020. The ledges 16060 are slidably receivedbetween the fins 16022 and the clutch link 16010. Such arrangementenables the clutch link 16010 and the lock member 16020 to move axially(arrow AT in FIG. 45) relative to the second clamp segment 16054. Sucharrangement also couples the lock member 16020 to the second clampsegment 16054 such that the lock member 16020 will radially travel withthe second clamp segment 16054. The ledges 16060 are recessed in thesecond clamp segment 16054 to define a lock cavity 16062. A lock cap16070 is received in the lock cavity 16062. The lock cap 16050 includesan axial slot 16052 through which the lock member 16020 extends. SeeFIGS. 45 and 46.

Turning now to FIGS. 39-42, the shaft assembly 15200 includes a nozzleassembly 15201 that is similar to nozzle 11201 and comprises nozzleportions 15202 and 15203. In addition, a proximal nozzle segment 15204is attached to the nozzle assembly 15201 to facilitate rotation of thenozzle assembly 15201 about the shaft axis SA relative to the chassis inthe various manners described herein. As can be seen in FIG. 40, thenozzle assembly 15201 includes a series of radial lock grooves 15206that are configured to be lockingly engaged with a series of lock fins16024 formed in the top end of the lock member 16020.

Turning next to FIGS. 47 and 48, in the illustrated example, theproximal spine shaft insert 16030 is also formed with an articulationlock assembly 16040. In one form, the articulation lock assembly 16040comprises a clamp arrangement with a lock clamp portion 16042 movablyattached to the proximal spine shaft insert 16030 by a living hinge16044. The lock clamp portion 16042 includes a clamping tab 16046 thatis arranged in confronting arrangement with a clamp surface 16038 formedin the proximal spine shaft insert 16030. As can be seen in FIG. 48, theproximal articulation driver 15102 is slidably received between theclamping tab 16046 and the clamp surface 16038. In addition, a clampactuator tab 17016 is crimped into the proximal closure tube segment17010 such that the clamp actuator tab 17016 is in engagement with theclamping tab 16046.

As indicated above, in the illustrated example, the drive clutchassembly 16000 is configured to couple the articulation system 15100 tothe firing drive assembly 11900 such that the articulation system 15100is actuatable by the firing drive assembly 11900 when the jaws of theend effector are open. When the jaws of the end effector are closed, thearticulation system 15100 is locked in place out of engagement with thefiring drive assembly such that the firing drive assembly 11900 can beactuated without actuating the articulation system 15100. To accomplishsuch automatic actuation of the drive clutch assembly 16000, an axiallymovable actuator member 16080 is attached to the proximal end portion17012 of the proximal closure tube segment 17010. In at least onearrangement, for example, t the intermediate firing shaft portion 11902comprises an actuator ring 16082 that is fixedly attached to theproximal end portion 17012 of the proximal closure tube segment 17010.In one example, the actuator ring 16082 is crimped onto the proximalclosure tube segment 17010 by crimps 16084. However, other methods ofattaching the actuator member 16080 to the proximal closure tube segment17010 may be employed.

Operation of the drive clutch assembly 16000 will now be described withreference to FIGS. 49-54. FIGS. 49 and 50 illustrate the drive clutch16000 in an engaged orientation. When in that position, the proximalclosure tube segment 17010 is in its proximal-most position whichcorresponds to the jaw open position. When in that position, the closuresystem has not been actuated. For example, in applications wherein theshaft assembly 15200 has been attached to a hand-held housing, theclosure trigger has not been depressed. As can be seen in FIG. 49, theactuator 16080 is proximal to the radially expandable clutch plateassembly 16050. As can be further seen in FIG. 49, the clutch plateassembly 16050 is clamped onto the proximal closure tube segment 17010in its first clamped position by the clamp rings 16066. When in thatposition, the lock member 16020 is in locking engagement with the radiallock notch 11906 in the intermediate firing shaft 11902. Thus, the lockmember 16020 and the clutch link 16010 are locked to the intermediatefiring shaft 11902. Because the proximal articulation driver 15102 ishooked to the clutch link 16010, it, too, is linked to the intermediatefiring shaft 11902. Thus, the clinician is now able to articulate thesurgical end effector attached to the shaft assembly 15200 by actuatingthe firing drive assembly 11900 to axially move the intermediate firingshaft portion 11902. Because the proximal articulation driver 15102 iscoupled to the intermediate firing shaft portion 11902, axial movementof the intermediate firing shaft portion 11902 also causes the proximalarticulation driver 15102 to move axially and articulate the surgicalend effector. If the clinician causes the intermediate firing shaftportion 11902 to be driven in the distal direction DD, the surgical endeffector will be articulated in a right direction about the articulationaxis. See FIG. 51. If the clinician drives the intermediate firing shaftportion 11902 to move in the proximal direction PD, the surgical endeffector will be articulated in a left direction about the articulationaxis. See FIG. 52. In either case, the articulation takes place with thejaws of the end effector in an open position.

Once the clinician has articulated the surgical end effector in thedesired position, the firing drive system 11900 is deactivated. Theclinician may then activate the closure system to close the jaws of thearticulated end effector onto the target tissue. As indicated above,when the shaft assembly 15200 is attached to a hand-held housing, theclinician may actuate the closure system by depressing the closuretrigger. Actuation of the closure system causes the proximal closuretube segment 17010 to move axially in the distal direction. Movement ofthe proximal closure tube segment 17010 distally also causes a camsurface 16086 formed on a distal end of the actuator member 16080 toslide under the radially expandable clutch plate assembly 16050 drivingit radially outward (arrows RD in FIG. 54). Radial movement of thesecond clamp segment 16054 causes the lock member 16020 to disengage theradial lock notch 11906 in the intermediate firing shaft 11902 as wellas the locking fins 16024 formed thereon to lockingly engage radial lockgrooves 15206 in the nozzle assembly 15201. See FIGS. 53 and 54. When inthat position, the articulation system, namely the proximal articulationdriver 15102, is no longer linked to the firing drive system. Theclinician may actuate the closure drive system until the jaws of thesurgical end effector are in a closed position. The distal movement ofthe proximal closure tube segment 17010 also brings the clamp actuatortab 17016 into engagement with the clamping tab 16046 of thearticulation lock assembly 16040 to thereby clamp the proximalarticulation driver 15102 in position and to prevent any axial movementthereof. Thus, when the jaws are in the closed position, thearticulation drive system is decoupled from the firing drive system andthe articulation drive system is locked in position. The clinician canthen operate the firing drive system to drive the intermediate firingshaft portion 11902 and the firing bar attached thereto distally tocomplete the firing of the surgical end effector. When the clinicianretracts the proximal closure tube segment 17010 proximally back intothe starting or unactuated position, the clamp rings 16066 will causethe clutch plate assembly 16050 to return to the clamped engagedposition thereby again linking the articulation system to the firingdrive system and unlocking the articulation lock assembly 16040 topermit the proximal articulation driver 15102 to once again moveaxially.

FIGS. 55-57 illustrate portions of another interchangeable shaftassembly 18200 that is similar to interchangeable shaft assembly 11200,except for the differences discussed below. In the interchangeable shaftassembly 11200, the articulation system is linked to the firing drivesystem until the closure system is actuated. Actuation of the closuresystem causes the articulation system to be delinked from the firingdrive system so that the firing drive system may then be actuatedwithout actuation of the articulation system. In the interchangeableshaft assembly 18200, the articulation system is independentlyactuatable from the closure system. Thus, in the interchangeable shaftassembly 18200, the surgical end effector is articulatable while thejaws thereof are fully open, partially open or fully closed. Sucharticulation capabilities are not available with previousinterchangeable shaft assembly 11200.

Turning first to FIGS. 56 and 57, the shaft assembly 18200 employs ashift drum assembly 18500 that is journaled on a proximal end portion ofa proximal closure tube segment 20010. The axial shifting of theproximal closure tube segment 20010 is controlled in the mannerdescribed above with respect to the proximal closure tube segment 13010.The proximal closure tube segment 20010 can axially move without movingthe shift drum assembly 18500. As can be seen in FIG. 57, the shaftassembly 18200 can include a clutch assembly 18400 which can beconfigured to selectively and releasably couple a proximal articulationdriver 19102 to an intermediate firing member 18222. In one form, theclutch assembly 18400 includes a lock collar, or sleeve 18402,positioned around the intermediate firing member 18222 wherein the locksleeve 18402 can be rotated between an engaged position in which thelock sleeve 18402 couples the proximal articulation driver 19102 to theintermediate firing member 18222 and a disengaged position in which theproximal articulation driver 19102 is not operably coupled to theintermediate firing member 18222. When lock sleeve 18402 is in itsengaged position, distal movement of the intermediate firing member18222 can move the proximal articulation driver 19102 distally and,correspondingly, proximal movement of the intermediate firing member18222 can move the proximal articulation driver 19102. When lock sleeve18402 is in its disengaged position, movement of the intermediate firingmember 18222 is not transmitted to the proximal articulation driver19102 and, as a result, the intermediate firing member 18222 can moveindependently of the proximal articulation driver 19102. In variouscircumstances, the articulation driver 19102 can be held in position byan articulation lock of the type disclosed in U.S. patent applicationSer. No. 13/803,086, filed Mar. 14, 2013, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, the entiredisclosure of which has been herein incorporated by reference.

Referring primarily to FIG. 57, the lock sleeve 18402 can comprise acylindrical, or an at least substantially cylindrical, body including alongitudinal aperture 18403 defined therein configured to receive theintermediate firing member 18222. The lock sleeve 18402 can comprisediametrically-opposed, inwardly-facing lock protrusions 18404 and anoutwardly-facing lock member 18406. The lock protrusions 18404 can beconfigured to be selectively engaged with the intermediate firing member18222. More particularly, when the lock sleeve 18402 is in its engagedposition, the lock protrusions 18404 are positioned within a drive notch18228 defined in the intermediate firing member 18222 such that a distalpushing force and/or a proximal pulling force can be transmitted fromthe intermediate firing member 18222 to the lock sleeve 18402. When thelock sleeve 18402 is in its engaged position, the second lock member18406 is received within a drive notch 19104 defined in the proximalarticulation driver 19102 such that the distal pushing force and/or theproximal pulling force applied to the lock sleeve 18402 can betransmitted to the proximal articulation driver 19102. In effect, theintermediate firing member 18222, the lock sleeve 18402, and theproximal articulation driver 19102 will move together when the locksleeve 18402 is in its engaged position. On the other hand, when thelock sleeve 18402 is in its disengaged position, the lock protrusions18404 may not be positioned within the drive notch 18228 of theintermediate firing member 18222 and, as a result, a distal pushingforce and/or a proximal pulling force may not be transmitted from theintermediate firing member 18222 to the lock sleeve 18402.Correspondingly, the distal pushing force and/or the proximal pullingforce may not be transmitted to the proximal articulation driver 19102.In such circumstances, the intermediate firing member 18222 can be slidproximally and/or distally relative to the lock sleeve 18402 and theproximal articulation driver 19102. The intermediate firing member 18222may be axially advanced in the various manners described herein. Axialadvancement of the proximal articulation driver 19102 in the distaldirection will cause the surgical end effector to articulate to the leftand axial retraction of the proximal articulation driver in the proximaldirection will cause the surgical end effector to articulate to theright in the various manners described herein.

As can be seen in FIG. 57, the shift drum assembly 18500 comprises atubular or cylindrical body 18502 that is received on a proximal portionof the proximal closure tube segment 20010. The shift drum assembly18500 further includes a proximal flange 18504 that is arranged inconfronting arrangement with a chassis flange 18242 that extends from achassis 18240. The chassis 18240 also operably supports a nozzleassembly 18201 in the various manners described herein. In theillustrated example, a cam slot 18506 is provided in the shift drum body18502 and is configured to receive therein a shifter pin 18422 on ashifter key 18420 that is configured to be received within a slot 18410in the lock sleeve 18402. As can be seen in FIG. 57, the shifter key18420 extends through a clutch slot 21012 in a spine shaft 21010. Spineshaft 21010 may otherwise be similar to spine shaft 1210 describedabove. The shifter pin 18422 extends through pin slot 12014 in the spineshaft 21010 and through a shifter window 20011 in the proximal closuretube segment 20010. As will be further described below, axial movementof the shift drum 18500 will result in the rotational travel of the locksleeve 18402 so as to bring the lock sleeve 18402 into drivingengagement with the intermediate firing member 18222 and the proximalarticulation driver 19102 as described above.

In the illustrated example, axial movement of the shift drum 18502 maybe controlled by at least one solenoid assembly 18600. As can be seen inFIG. 57, the illustrated example employs two solenoid assemblies 18600.In at least one example, each solenoid assembly 18600 includes anaxially movable solenoid actuator 18602 that is movably supported by thechassis flange 18242. The solenoid assemblies 18600 are coupled to thecircuit control board on the housing two which the shaft assembly 18200is attached in the various manners described herein as well as in thevarious references incorporated herein by reference. When the solenoids18600 are actuated, the actuators 18602 contact the proximal flange18504 of the switch drum assembly 18500 to move the switch drum assemblyin the distal direction DD. Return springs 18700 located in the nozzleassembly (not shown) serve to bias the switch drum in the proximaldirection PD. See FIG. 65.

One method of operating the shaft assembly 18200 will now be describedwith reference to FIGS. 58 and 59 which set forth in chart form, thevarious steps or actions for operating the shaft assembly 18200. As canbe seen in FIG. 58, for example, in step 1, the control system in thehousing is in the “active” state for enabling articulation of thesurgical end effector coupled to the shaft assembly 18200. As wasdiscussed above, the housing to which the shaft assembly 18200 isoperably coupled includes a control circuit or system and may include adisplay screen that is onboard or located remote from the housing todisplay certain operational parameters and indicators to the user. Whenthe articulation system is in the active state indicated at step 1, theclosure system is in its unactuated or fully retracted state whichcorresponds to the jaws of the surgical end effector being in theirfully open position. The solenoids are unactuated with the actuatorsthereof in their retracted position. See FIG. 60. As can be seen in FIG.60, the shifter pin 18422 is in a distal-most portion 18508 of the camslot 18506. When in this position, the user may, if desired, actuate thearticulation system to articulate the end effector as the shifter pin18422 has rotated the lock sleeve 18402 in a counterclockwise CCWdirection (user's perspective) to thereby cause the second lock member18406 on the lock sleeve 18402 to rotate into engagement with the drivenotch 19104 in the proximal articulation driver 19102. When in thatposition, the lock sleeve 18402 is in engagement with the intermediatefiring member 18222.

Still referring to FIG. 58, at step 2, the user has moved the proximalclosure tube segment 20010 partially forward by actuating the closuresystem in the various manner described herein. See FIG. 61. The user mayhave partially or fully closed the jaws at this stage, but the systemstill facilitates articulation of the surgical end effector if desired.At step 3, the user has closed the end effector jaws. At this stage, theinstrument could be fired if desired. In one arrangement, for example,the display screen for the instrument may display an instructionindicating that to “prepare for firing”, the firing drive system may beinitially actuated. In an arrangement that includes a firing trigger,for example, the display screen may instruct the user to “pull” orotherwise actuate the firing trigger. This initial actuation of thefiring drive system may energize the solenoids 18600 to cause thesolenoid actuators 18602 to move the shift drum assembly 18500 in thedistal direction DD. The control system algorithm may provide for apre-determined delay period (e.g., 15 second, etc.) and display amessage “wait for fifteen seconds”, etc. after actuating the firingdrive system.

As the shift drum assembly moves 18500 in the distal direction, theshifter pin 18422 enters the camming portion 18510 of the camming slot18506 in the shift drum assembly 18500. As the shifter pin 18422 entersthe camming portion 18510 of the camming slot 18506, the shift drumassembly causes the shifter pin 18422 and the shifter key 18420 torotate the lock sleeve 18402 in a clockwise CW direction (user'sperspective). As the lock sleeve 18402 rotates in the clockwiseposition, the second lock member 18406 rotates out of engagement withthe drive notch 19104 in the proximal articulation driver 19102 todisengage the articulation system from the firing drive system. See FIG.62. At step 4, the user may then actuate the firing drive system toadvance the intermediate firing member 18222 and drive the firing member(“knife”) through the surgical end effector in the various mannersdescribed herein.

At step 5, the firing member or knife has been fully returned back toits starting position and the user has actuated the closure system toopen the end effector jaws. See FIG. 63. Turning next to FIG. 59, atstep 6, the algorithm for the surgical instrument control system maythen cause the solenoids 18600 to be retracted after the system detectedthat the jaws have been opened. This may be accomplished with sensorsdetecting the position of the closure tube and/or jaws on the surgicalend effector. As the solenoids 18600 are de-energized, the actuators18602 are retracted. See FIG. 65. In step 7, the return springs 18700bias the shift drum assembly 18500 in the proximal direction PD into a‘riding mode”. When in the riding mode, the shifter pin 18422 has notcompletely cammed up the cam portion 18510 of the cam slot 18506 suchthat the inwardly-facing lock protrusions 18404 on the lock sleeve 18402have not rotated into engagement with drive notch 18228 in theintermediate firing member 18222. At this stage, the control system mayinitiate an articulation capture algorithm which enables the shift drumassembly 18500 to rotate back to the starting position depicted in FIG.66. When in that position, the articulation system has once again beenoperably coupled to firing drive system and the jaws of the surgical endeffector are in the open position. The user may then actuate thearticulation system in the above described manner to articulate thesurgical end effector while the jaws thereof are open. In at least onearrangement, the shift drum assembly 18500 may have a thicker walland/or be made of harder material than the shift drum assembliesemployed in previous shaft assemblies such as the previousinterchangeable shaft assembly 11200. The return springs may also biasthe shift drum assembly 18500 back into the articulation mode when thesolenoids are de-actuated. A current articulation engagement switch maybe employed and which may comprise a magnet/linear Hall Effect sensormay be replaced by a simple contact switch, inductive coil or otheroption for detecting the proximity of the shift drum flange 18504 movingwith respect to the sensor.

FIG. 67 illustrates portions of another interchangeable shaft assembly21200 that is attached to a housing 21012 that comprises a handle 21014that is configured to be grasped, manipulated and actuated by theclinician as was described above. The interchangeable shaft assembly21200 has a surgical end effector operably attached thereto and includesa chassis 21240 that is configured to be operably attached to thehousing 21012. See FIGS. 68 and 69. The surgical end effector may besimilar to the surgical end effector 11300 described above. The chassis21240 operably supports a nozzle assembly 21201 that is similar to thenozzle assembly described above, except for the differences discussedbelow. In at least one arrangement, the nozzle assembly 21201 includes aproximal portion or fin assembly 21203 and a distal position 2107. InFIGS. 68 and 69, only the fin assembly 21203 is shown. The distal nozzleportion is omitted for clarity. It will be understood, however, that thedistal nozzle portion 2107 may be configured to operably interface withthe spine assembly (not shown) to enable the nozzle assembly 21201 to beemployed to rotate the shaft assembly about the shaft axis SA in thevarious manners described herein.

Turning to FIGS. 68 and 69, the fin assembly 21203 of the nozzleassembly 21330 is operably linked to a shift drum assembly 21500 by twolink arms 21205 that are pinned or otherwise attached to a proximalflange 21504 of the shift drum assembly 21500. The shift drum assembly21500 is otherwise similar to shift drum assembly 18500 described above.In particular, the shift drum assembly 21500 includes a body portion21502 that has a cam slot 21506 therein that is configured to receivetherein the shifter pin 18422 on the shifter key 18420 in the mannerdescribed above. The user may actuate the shift drum assembly 21500 bypulling back on the fin assembly 21203 of the nozzle assembly 21201. SeeFIG. 67.

FIG. 68 illustrates the position of the shift drum assembly 21500 whenthe articulation system is in the active state. The closure system maybe in its unactuated or fully retracted state which corresponds to thejaws of the surgical end effector being in their fully open position.The closure system could also be actuated to partially close or closethe jaws as described above. As can be seen in FIG. 68, the shifter pin18422 is in a proximal-most portion 21512 of the cam slot 21506. When inthis position, the user may, if desired, actuate the articulation systemto articulate the end effector as the shifter pin 18422 has rotated thelock sleeve 18402 in a counterclockwise CCW direction (user'sperspective) to thereby cause the second lock member 18406 on the locksleeve 18402 to rotate into engagement with the drive notch 19104 in theproximal articulation driver 19102. When in that position, the locksleeve 18402 is in engagement with the intermediate firing member 18222as was described above. See FIG. 57. In addition, the fin assembly 21203of the nozzle assembly 21201 is in its distal-most position. Thearticulation system may then be activated by activating the firing drivesystem to advance the intermediate firing member 18222 distally.

As described above, once the user has articulated the end effector to adesired position and the jaws have been fully closed, the articulationsystem may be disengaged from the firing system by pulling the finassembly 21203 in the proximal direction PD. See FIG. 67. As can be seenin FIG. 69, pulling the fin assembly 21203 in the proximal directionpulls the shift drum assembly 21500 proximally. As the shift drumassembly 21500 moves proximally the shifter pin 18242 enters the cammingportion 21510 of the cam slot 21506 and causes the shifter pin 18422 andthe shifter key 18420 to rotate the lock sleeve 18402 in a clockwise CWdirection (user's perspective). As the lock sleeve rotates in theclockwise direction, the second lock member 18406 rotates out ofengagement with the drive notch 19104 in the proximal articulationdriver 19102 to disengage the articulation system from the firing drivesystem. The shift drum assembly 21500, as well as the fin assembly21203, are in their proximal-most positions.

As can be seen in FIG. 69, when the shift drum assembly 21500 is in itsproximal-most position, the flange 21504 of the shift drum assembly21500 is adjacent to the chassis flange 21242. In the illustratedexample, one or more magnets 21600 is mounted in the chassis flange21242 to retain the shift drum assembly 21500 in that proximal-mostposition which corresponds to the position in which the articulationsystem has been disengaged from the firing drive system. Also in atleast one arrangement, a sensor or sensors 21602 are mounted in thechassis flange 21242 which are configured to detect the presence of theshift drum flange 21504 when in that proximal position. The sensor 21602is in electrical communication with an onboard circuit control board21604 that is in communication with a control board associated with thehousing. In an alternative arrangement, a simple contact switch orinductive coil could be used to sense the presence of the metallic shiftdrum assembly 21500, for example. As was discussed above, the housing towhich the shaft assembly 21200 is operably coupled may include a displayscreen that is onboard or located remote from the housing to displaycertain operational parameters and indicators to the user. When thesensor detects the presence of the shift drum assembly flange 21504, thedisplay may display “Articulation System Inactive”, for example.Alternative arrangements may employ a biasing spring or springs ormagnets in the nozzle assembly to toggle the shift drum assembly 21500into the shifted and un-shifted positions. Such arrangements facilitatearticulation of the surgical end effector while the jaws thereof arefully open, partially opened or fully closed. This arrangement may alsobe adapted for use with dedicated shaft assemblies that arenon-removably attached to the housing.

FIGS. 70-74 illustrate various components of another shaft assembly22200 that may be attached to a housing of the type described above orit may comprise a shaft assembly that is dedicated to a housingarrangement and not designed to be interchangeable. In either case, theshaft assembly 22200 has a surgical end effector operably attachedthereto and includes a chassis 22240 that is configured to be operablyattached to the housing. The surgical end effector may be similar to thesurgical end effector 11300 described above and be attached thereto forselective articulation about an articulation axis that is transverse toa shaft axis SA. The chassis 22240 operably supports a nozzle assembly22201 that is similar to the nozzle assembly 11201 described above. Ascan be seen in FIG. 70, the nozzle assembly 22201 includes a proximalportion 22205 and a fin assembly 22203. The proximal nozzle portion22205 is configured to operably interface with a spine shaft 23010 (FIG.71) to enable the nozzle assembly 22201 to be employed to rotate theshaft assembly about the shaft axis SA in the various manners describedherein. The spine shaft 23010 is similar to the spine shaft 21010described above and depicted in FIG. 57, except for the differencesdiscussed below. The intermediate firing shaft 18222 is slidablysupported in the spine shaft 23010. Operation of the firing shaft 18222was discussed above and will not be repeated for the sake of brevity.

The shaft assembly 22200 employs a shift drum assembly 22500 that issomewhat similar to shift drum assembly 18500, except that the shiftdrum assembly 22500 may be shifted by actuating the closure system. Inone arrangement, the shift drum assembly 22500 includes a body portion22502 that has a cam slot 22506 therein that is configured to receivetherein the shifter pin 18422 on the shifter key 18420 in the mannerdescribed above. The shift drum assembly 22500 includes a pair ofdiametrically opposed drum shifter pins 22520 that are attached theretoby, for example, threads, welds, press-fits, adhesive, etc. The drumshifter pins 22520 are configured to extend through correspondingclosure slots 22020 in a proximal closure tube segment 22010. FIGS.72-74 illustrate one form of a proximal closure tube segment 22010.Proximal closure tube segment 22010 is attached to the closure system inthe various manners disclosed herein to selectively axially advance theproximal closure tube segment 22010 to apply closure motions to a jaw orjaws of the surgical end effector.

As can be seen in FIGS. 72-74, the proximal closure tube segment 22010also includes a shifter window 22011 that is configured to permit theshifter pin 18422 to extend therethrough in the manner described above.In addition, the proximal closure tube segment 22010 includesdiametrically opposed lug windows 22013, 22015 configured to permit lugs(not shown) on the nozzle assembly 22201 to extend therethrough toengage flats (not shown) on the spine shaft 23010. The lugs serve tocouple the nozzle assembly 22201 to the spine shaft 23010 such thatrotation of the nozzle assembly 22201 about the shaft axis SA causes thespine shaft 23010 as well as the surgical end effector coupled theretoto also rotate about the shaft axis SA. FIG. 70 illustrates the positionof the proximal closure tube segment 22010 relative to the shift drumassembly 22500 when the proximal closure tube segment 22010 is in theproximal-most position which corresponds to an unactuated position. Whenin that position, the closure system has not been actuated and the jawsof the surgical end effector are in the open position. The returnsprings 18700 serve to bias the shift drum assembly 22500 proximallyinto that position. When in that position, the shifter pin 18422 is in adistal-most portion 22508 of the cam slot 22506. When in this position,the user may, if desired, actuate the articulation system to articulatethe end effector as the shifter pin 18422 has rotated the lock sleeve18402 in a counterclockwise CCW direction (user's perspective) tothereby cause the second lock member 18406 on the lock sleeve 18402 torotate into engagement with the drive notch 19104 in the proximalarticulation driver 19102. See FIG. 57. When in that position, the locksleeve 18402 is in engagement with the intermediate firing member 18222.The user may then activate the firing drive system to distally advancethe intermediate firing member 18222 to actuate the articulation system.

When the user activates the closure system to move the proximal closuretube segment 22010 in the distal direction DD to apply closing motionsto the end effector, the proximal closure tube segment moves the drumshifter pins 22520 in the distal direction DD which also causes theshift drum assembly 22500 to move distally. As the shift drum 22500moves distally, the shifter pin 18422 enters the camming portion 22510of the camming slot 22506, the shift drum assembly 22500 causes theshifter pin 18422 and the shifter key 18420 to rotate the lock sleeve18402 in a clockwise CW direction (user's perspective). When theproximal closure tube segment 22010 has been advanced distally to thefully closed position, the shift drum assembly 22500 has caused the locksleeve 18402 to rotate to a position wherein the second lock member18406 has rotated out of engagement with the drive notch 19104 in theproximal articulation driver 19102 to disengage the articulation systemfrom the firing drive system. The user may then actuate the firing drivesystem to fire the firing member. Once the firing process is completedand the firing member has been retracted to its starting position withinthe surgical end effector or adjacent to the surgical end effector, theuser may active the closure system to retract the proximal closure tubesegment 22010 in the proximal direction PD. In at least one arrangement,the closure slots 22020 are sufficiently sized to permit the proximalclosure tube segment 22010 to be actuated back and forth in a “ride”mode when the user is opening and closing the end effector jaws to avoidre-engaging the articulation system with the firing system. See FIG. 74.

As can be seen in FIG. 70, in at least one arrangement, a sensor orsensors 22602 are mounted in the chassis flange 22242 which areconfigured to detect the presence of the shift drum flange 22504 when inthe proximal position. The sensor 21602 is in electrical communicationwith an onboard circuit control board 22604 that is in communicationwith a control board associated with the housing. This arrangement mayalso be adapted for use with dedicated shaft assemblies that arenon-removably attached to the housing.

FIGS. 75-78 illustrate various components of another shaft assembly24200 that may be attached to a housing of the type described above orit may comprise a shaft assembly that is dedicated to a housingarrangement and not designed to be interchangeable. In either case, theshaft assembly 24200 has a surgical end effector operably attachedthereto and includes a chassis 24240 that is configured to be operablyattached to the housing. The surgical end effector may be similar to thesurgical end effector 11300 described above and be attached thereto forselective articulation about an articulation axis that is transverse toa shaft axis SA. The chassis 24240 operably supports a nozzle assembly24201 that is similar to the nozzle assembly 11201 described above. Ascan be seen in FIG. 75, the nozzle assembly 24201 includes a distalportion 24205 and a fin assembly 24203. The distal nozzle portion 23205is configured to operably interface with a spine shaft 25010 (FIG. 77)to enable the nozzle assembly 24201 to be employed to rotate the shaftassembly about the shaft axis SA in the various manners describedherein. The spine shaft 25010 is similar to the spine shaft 21010described above and depicted in FIG. 57, except for the differencesdiscussed below. The intermediate firing shaft 18222 is slidablysupported in the spine shaft 25010. Operation of the firing shaft 18222was discussed above and will not be repeated for the sake of brevity.

The shaft assembly 24200 employs a shift drum assembly 24500 that issomewhat similar to shift drum assembly 18500, except that the shiftdrum assembly 24500 may be shifted by actuating the closure system. Inone arrangement, the shift drum assembly 24500 includes a body portion24502 that has a cam slot 24506 therein that is configured to receivetherein the shifter pin 18422 on the shifter key 18420 in the mannerdescribed above. The shaft assembly 24200 includes a proximal closuretube segment 24010. Proximal closure tube segment 24010 is attached tothe closure system in the various manners disclosed herein toselectively axially advance the proximal closure tube segment 24010 toapply closure motions to a jaw or jaws of the surgical end effector.

FIG. 76 illustrates a portion of an exemplary proximal closure tubesegment 24010 that includes a shifter window 24011 that is configured topermit the shifter pin 18422 to extend therethrough in the mannerdescribed above. In addition, the proximal closure tube segment 24010includes diametrically opposed lug windows 24013, 24015 that areconfigured to permit lugs (not shown) on the nozzle assembly 24201 toextend therethrough to engage flats (not shown) on the spine shaft25010. The lugs serve to couple the nozzle assembly 24201 to the spineshaft 25010 such that rotation of the nozzle assembly 24201 about theshaft axis SA causes the spine shaft 25010 as well as the surgical endeffector coupled thereto to also rotate about the shaft axis SA. Theproximal closure tube segment 24010 also includes at least one andpreferably two, diametrically-opposed laterally extending shifter tabs24017. In the illustrated embodiment, the shifter tabs 24017 are cutinto the proximal closure tube wall and bent laterally outwardly suchthat they are transverse to the shaft axis SA. In alternativearrangements, however, the shifter tabs may be attached to the proximalclosure tube segment by welding, adhesive, frictional/press fits, etc.The shifter tabs 24017 are configured to engage the shift drum flange24504 when the proximal closure tube segment 24010 is advanced distallyin the distal direction DD in the above-described manners.

As can be seen in FIG. 75, the proximal closure tube segment 24010 hasbeen advanced distally to a position wherein the shifter tabs 24017 havecontacted the shift drum flange 24504. The shift drum assembly 24500 hasbeen biased into that position by the return springs 18700. When in thatposition, the shifter pin 18422 is in a distal-most portion 24508 of thecam slot 24506. When in this position, the user may, if desired, actuatethe articulation system to articulate the end effector as the shifterpin 18422 has rotated the lock sleeve 18402 in a counterclockwise CCWdirection (user's perspective) to thereby cause the second lock member18406 on the lock sleeve 18402 to rotate into engagement with the drivenotch 19104 in the proximal articulation driver 19102. See FIG. 57. Whenin that position, the lock sleeve 18402 is in engagement with theintermediate firing member 18222.

When the user activates the closure system to move the proximal closuretube segment 24010 in the distal direction DD to apply closing motionsto the end effector, the shifter tabs 24017 on the proximal closure tubesegment 24010 contact the shift drum flange 24504 and move the shiftdrum assembly 24500 distally. As the shift drum assembly 24500 movesdistally, the shifter pin 18422 enters the camming portion 24510 of thecamming slot 24506 which causes the shifter pin 18422 and the shifterkey 18420 to rotate the lock sleeve 18402 in a clockwise CW direction(user's perspective). When the proximal closure tube segment 24010 hasbeen advanced distally to the fully closed position, the shift drumassembly 24500 has caused the lock sleeve 18402 to rotate to a positionwherein the second lock member 18406 has rotated out of engagement withthe drive notch 19104 in the proximal articulation driver 19102 todisengage the articulation system from the firing drive system. The usermay then actuate the firing drive system to fire the firing member. Oncethe firing process is completed and the firing member has been retractedto its starting position within the surgical end effector or adjacent tothe surgical end effector, the user may active the closure system toretract the proximal closure tube segment 24010 in the proximaldirection PD. In at least one arrangement, an axial gap 24019 isprovided between the shift drum flange 24504 and the shifter tabs 24017when the shift drum assembly 24500 is still in a position wherein theshifter pin 18422 is still within the camming portion 2410 of the camslot 24506 such that the articulation system has not re-engaged thefiring system. Such arrangement enables the proximal closure tubesegment 24010 to be actuated back and forth in a “ride” mode when theuser is opening and closing the end effector jaws to avoid re-engagingthe articulation system with the firing system. See FIG. 78.

As can be seen in FIG. 75, in at least one arrangement, a sensor orsensors 24602 are mounted in the chassis flange 24242 which areconfigured to detect the presence of the shift drum flange 24504 when inthe proximal position. The sensor 24602 is in electrical communicationwith an onboard circuit control board 24604 that is in communicationwith a control board associated with the housing. This arrangement mayalso be adapted for use with dedicated shaft assemblies that arenon-removably attached to the housing.

FIG. 79 illustrates another interchangeable shaft assembly 26200 that isattached to a housing 11012 of the type described above. Theinterchangeable shaft assembly 26200 includes an onboard articulationmotor 2140 that is mounted within the nozzle assembly 26201 forrotational travel therewith in an orbit about the shaft axis SA when theuser rotates the nozzle assembly 26201 relative to the housing 11012.The construction of the articulation motor 2410 and gear arrangementswere discussed above and will not be repeated for the sake of brevity.The shaft assembly 26200 may otherwise be similar to the shaft assembly1000 described above and include an articulation joint and articulationsystem as described above to facilitate the selective articulation ofthe surgical end effector 1500 operably coupled thereto.

FIGS. 79-83 illustrate a flexible circuit assembly 27000 that may beemployed in the shaft assembly 26200 to transmit electrical signalsultimately between the end effector 1500 and the processor in thehousing 11012 or otherwise associated with the housing to which theshaft assembly 26200 is operably attached. As illustrated in FIG. 79,the shaft assembly 26200 can comprise a slip ring assembly 27600 whichcan be configured to conduct electrical power to and/or from the endeffector 1500 and/or communicate signals to and/or from the end effector1500, for example. The slip ring assembly 27600 can comprise a proximalconnector flange 27604 that is mounted to a chassis flange 26242 thatextends from the chassis 26240. The slip ring assembly 27600 furtherincludes a distal connector flange (not shown) that is positioned withina slot defined in the nozzle assembly 26201 or is otherwise mountedtherein. The proximal connector flange 27604 can comprise a first faceand the distal connector flange can comprise a second face which ispositioned adjacent to and movable relative to the first face. Thedistal connector flange can rotate relative to the proximal connectorflange 27604 about a shaft axis SA with the nozzle assembly 26201 as wasdescribed above. The proximal connector flange 27604 can comprise aplurality of concentric, or at least substantially concentric,conductors defined in the first face thereof. In the illustratedexample, four conductors 27620, 27630, 27640 and 27650 are provided onthe first face of the proximal connector flange 27604. A connector 27700is mounted on the proximal side of the distal connector flange and mayhave a plurality of contacts wherein each contact corresponds to and isin electrical contact with one of the conductors 27620, 27630, 27640,27650. Such an arrangement permits relative rotation between the distalconnector flange and the proximal connector flange 27604 whilemaintaining electrical contact therebetween. The proximal connectorflange 27604 includes an electrical connector 27606 which can place theconductors 27620, 27630, 27640, 27650 in signal communication with ashaft circuit board (not shown) mounted to the shaft chassis 26240, forexample. Further details regarding slip ring assemblies may be found inU.S. patent application Ser. No. 13/803,086, U.S. patent applicationSer. No. 13/800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM, filed on Mar. 13, 2013, and U.S. Pat. No. 9,345,481, entitledSTAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, for example. U.S.patent application Ser. No. 13/803,086, U.S. patent application Ser. No.13/800,067 and U.S. Pat. No. 9,345,481 are each hereby incorporated byreference herein in their respective entireties.

In the illustrated example, the shaft assembly 26200 employs a flexiblewiring harness assembly 27000 that comprises a plurality of conductorsin flexible substrates that extend between the electrical connector27606 and corresponding sensors mounted distal in the shaft assemblyand/or in the surgical end effector 1500 itself. FIG. 80 illustrates oneform of a flexible wiring harness assembly 27000 that may be employed.The flexible wiring harness assembly 27000 includes flexible substrateportions 27010 and 27050 that are shaped as shown in FIG. 80. Theproximal flexible substrate portion 27010 includes motor conductors27012 and 27014 that are connected between the articulation motor 2140and the connector 27700. In the illustrated example, the distal flexiblesubstrate portion 27050 supports four conductors/circuit paths 27060,27070, 27080, 27090. For example, first circuit path 27060 includes afirst proximal conductor portion 27062 that may be coupled to a firstsignal processor chip 27100 on the substrate portion 27050. The firstproximal conductor portion 27062 may also be connected to thearticulation motor 2140. The first circuit path 27060 may furtherinclude a first distal conductor portion 27064 that is connected to thefirst signal processor chip 27100 as well as to a corresponding firstsensor or component (not shown) that is associated with the surgical endeffector and/or articulation joint arrangement. The second circuit path27070 may be connected to the articulation motor 2140 and to a secondsensor or component (not shown) that is associated with the surgical endeffector and/or articulation joint arrangement. The third circuit path27080 may be connected to the electrical connector 27700 and to a thirdsensor or component (not shown) that is associated with the surgical endeffector and/or articulation joint arrangement. The fourth circuit path27090 includes a fourth proximal conductor portion 27092 that may becoupled to a second signal processor chip 27200 on the substrate portion27050 as well as to the electrical connector 27700. The fourth circuitpath 27090 may further include a fourth distal conductor portion 27094that is connected to the second signal processor chip 27200 as well asto a corresponding fourth sensor (not shown) associated with thesurgical end effector and/or articulation joint arrangement.

In the illustrated arrangement, the distal substrate portion 27050includes a bifurcated portion 27052 that includes a right substrateportion 27054 that supports conductors 27064, 27074 thereon and a leftsubstrate portion 27056 that supports conductors 27084, 27094 therein.The right substrate portion 27054 and the left substrate portion 27056may be separated by a central space 27058. Referring to FIGS. 80-82, inthe illustrated example, the distal substrate portion 27050 may have across-sectional thickness h_(a) and the conductors 27064, 27070, 27080,27094 may each have a conductor width W_(a) as shown in FIG. 81. Theportion of the distal substrate 27050 that is proximal to the bifurcatedportion 27052 has a similar cross-sectional thickness h_(a) and theconductors the conductors 27064, 27070, 27080, 27094 on that substrateportion may also have the conductor width W_(a). Similarly, the portionof the distal substrate 2750 that is proximal to the first and secondprocessor chips 27100, 27200 has a similar cross-sectional thicknessh_(a) and the conductors the conductors 27062, 27070, 27080, 27092 onthat substrate portion may also have the conductor width W_(a). As canbe seen in FIG. 82, right substrate portion 27054 and the left substrateportion 27056 of the bifurcated portion 27052 may each have across-sectional thickness h_(b) and the conductors 27064, 27070, 27080,27094 may each have a conductor width W_(b) across the length of thosesubstrate portions. In the illustrated example, h_(a)>h_(b) andW_(a)<W_(b). Such arrangement provides the bifurcated portion 27052 withmore flexibility and enables that portion 27052 to be folded in thelocation of the articulation joint, for example.

Turning to FIG. 83, a connector portion 27800 of the flexible wiringharness assembly 27800 that includes the signal processor chips 27100,27200 may include a rigid mounting block 27802 upon which the chips27100, 27200 are supported. The mounting block 27802 may be fabricatedfrom rigid, electrical insulative material such as rigid silicone orplastic and have a thickness BT that is greater than the thicknessesh_(a) described above. The mounting block 27802 may be retained within amounting cavity 1211 provided in the spine shaft 1210. In addition, aportion 27900 of the distal substrate portion 2750 that is distal to theconnector portion 27800 may have an offset formed therein to providestrain relief to the flexible wiring harness assembly 27000. Theillustrated example also includes a vertically stepped portion 27910that enables the wiring harness to extend around a mechanical componentin the shaft assembly (e.g., articulation rod, link connection, etc.).

In at least one example, the substrate portions 27010, 27050 maycomprise a flexible silicone material or a flexible plastic material.The various conductors 27012, 27014, 27062, 27064, 27070, 27080, 27092,27094 may be molded into the substrate material such that the conductorsare completely encapsulated therein as shown in FIGS. 81 and 82. Sucharrangement serves to insulate the conductors from body fluid, debris,etc. which might otherwise short the circuits. However, in otherarrangements, the circuits may be plated onto the substrate material.The flexible wiring harness assembly 27000 may be employed in connectionwith other shaft assemblies disclosed herein.

FIGS. 84-91 illustrate various components of another shaft assembly28200 that may be attached to a housing of the type described above orit may comprise a shaft assembly that is dedicated to a housingarrangement and not designed to be interchangeable. In either case, theshaft assembly 28200 has a surgical end effector operably attachedthereto and includes a chassis 28240 that is configured to be operablyattached to the housing. The surgical end effector may be similar to thesurgical end effector 11300 described above and be attached thereto forselective articulation about an articulation axis that is transverse toa shaft axis SA. The chassis 24240 operably supports a nozzle assembly28201 that is similar to the nozzle assembly 11201 described above. Ascan be seen in FIGS. 83-85, the nozzle assembly 28201 includes a distalnozzle portion 28205 and a fin assembly 28203. The distal nozzle portion28205 is configured to operably interface with a spine shaft 29010 (FIG.86) to enable the nozzle assembly 28201 to be employed to rotate adistal portion 28207 of the shaft assembly 28200 about the shaft axis SAin the various manners described herein.

Turning next to FIG. 86, the shaft assembly 28200 employs a shift drumassembly 28500 that is journaled on a proximal end portion of a proximalclosure tube segment 30010. The axial shifting of the proximal closuretube segment 30010 may be controlled in the manner described above withrespect to the proximal closure tube segment 13010. As can be seen inFIG. 86, a proximal end 30012 of the proximal closure tube segment 30010is configured to be received within a closure shuttle 11250. Theproximal end 30012 is rotatably affixed to the closure shuttle 11250 bya U-shaped connector 11263 that is received in a groove 300014 in theproximal closure tube segment 300010 and seated in grooves 11253 in theclosure shuttle 11250 as was described above. The closure shuttle 11250is configured to be linked with the closure system in the housing whenthe shaft assembly 28200 is attached thereto. Operation of the closuresystem to axially advance and retract the closure shuttle within thechassis 28240 was described above and will not be repeated for the sakeof brevity.

As can be seen in FIG. 86 the shaft assembly 28200 can include a clutchassembly 28400 which can be configured to selectively and releasablycouple a proximal articulation driver 29102 to an intermediate firingmember 28222. In one form, the clutch assembly 28400 includes a lockcollar, or sleeve 28402, positioned around the intermediate firingmember 28222. The lock sleeve 28402 can comprise a cylindrical, or an atleast substantially cylindrical, body including a longitudinal aperture28403 defined therein configured to receive the intermediate firingmember 28222. The lock sleeve 28402 can comprise diametrically-opposed,inwardly-facing lock protrusions 28404 and an outwardly-facing lock tab28406. The lock protrusions 28404 can be configured to be selectivelyengaged with the intermediate firing member 28222. More particularly,when the lock sleeve 28402 is in its engaged position, the lockprotrusions 28404 are positioned within an axial drive notch 28228defined in the intermediate firing member 28222 such that a distalpushing force and/or a proximal pulling force can be transmitted fromthe intermediate firing member 28222 to the lock sleeve 28402.

The lock sleeve 28402 is attached to or received within a proximalmounting portion 29104 in the proximal articulation driver 29102. Whenthe lock sleeve 28402 is in its engaged position with the intermediatefiring member 28222, a distal pushing force and/or the proximal pullingforce applied to the lock sleeve 28402 can be transmitted to theproximal articulation driver 29102. In effect, the intermediate firingmember 28222, the lock sleeve 28402, and the proximal articulationdriver 29102 will move together when the lock sleeve 28402 is in itsengaged position. On the other hand, when the lock sleeve 28402 is inits disengaged position, a distal pushing force and/or a proximalpulling force may not be transmitted from the intermediate firing member28222 to the lock sleeve 28402. Correspondingly, the distal pushingforce and/or the proximal pulling force may not be transmitted to theproximal articulation driver 29102. In such circumstances, theintermediate firing member 28222 can be slid proximally and/or distallyrelative to the lock sleeve 28402 and the proximal articulation driver29102. The intermediate firing member 28222 may be axially advanced inthe various manners described herein. In at least one arrangement, forexample, axial advancement of the proximal articulation driver 29102 inthe distal direction will cause the surgical end effector to articulateto the left and axial retraction of the proximal articulation driver inthe proximal direction will cause the surgical end effector toarticulate to the right in the various manners described herein.

As can be seen in FIG. 86, the shift drum assembly 28500 comprises atubular or cylindrical body 28502 that is received on a proximal portionof the proximal closure tube segment 30010. The shift drum assembly28500 further includes a proximal shift drum flange 28504 and a cam pin28506 protruding therefrom. The lock tab 28406 on the lock sleeve 28402is received in a slot 28508 in the shift drum body 28502. Sucharrangement enables the lock sleeve 28402 to rotate with the shift drumassembly 28500. The body 28502 of the shift drum assembly 28500 isrotatably received within a cam nut 28900 that is non-rotatably mountedwithin the nozzle assembly 28201. In the illustrated example, a cam slot28902 is provided in the stationary cam nut 28900 and is configured toreceive therein the cam pin 28506 on the shift drum assembly 28500. Theclutch assembly 28400 is actuated when the proximal closure tube segment30010 is axially advanced. In at least one example, a C-clip 28910 isattached to the proximal closure tube segment 30010 such that the C-clip28910 is proximal to the shift drum flange 28504. Thus, as the proximalclosure tube segment 30010 is advanced distally, the C-clip 28910contacts the shift drum flange 28504 and pushes the shift drum assembly28500 distally.

FIGS. 84 and 87 illustrate the position of the shift drum assembly 28500when the closure system is in an unactuated position for example. Theproximal closure tube segment 30010 is in its proximal-most positionwhich corresponds to a “jaws open” position in the surgical end effectorin the various manners described herein. As can be seen in FIG. 87, theinwardly-facing lock protrusions 28404 are engaged with the intermediatefiring member 28222 such that a distal pushing force and/or a proximalpulling force can be transmitted from the intermediate firing member28222 to the lock sleeve 28402. The shift drum assembly 28500 is biasedinto its proximal-most position by a shift drum spring 28509 that isreceived around the shift drum body 28502 and extends between the shiftdrum flange 28504 and the cam nut 28900. As can be seen in FIG. 84, thecam pin 28506 is located in the proximal-most portion of the cam slot28902 in the cam nut 28900. FIG. 88 illustrates the proximal-mostpositions of the lock sleeve 28402 and the proximal articulation driver29102. FIG. 89 illustrates the distal-most positons of the lock sleeve28402 and the proximal articulation driver 29102 corresponding to afully articulated position of the surgical end effector, for example.

FIGS. 85 and 90 illustrate the position of the shift drum assembly 28500when the closure system is in a fully actuated position, for example.The proximal closure tube segment 30010 is in its distal-most positionwhich corresponds to a “jaws closed” position in the surgical endeffector in the various manners described herein. As the proximalclosure tube segment 30010 is moved distally, the C-clip 18910 contactsthe shift drum flange 28504 and pushes the shift drum assembly 28500distally against the bias of shift drum spring 28509. As the shift drumassembly 28500 moves distally, the cam pin 28506 moves within the camslot 28902 in the cam nut 28900 which causes the shift drum assembly28500 to rotate. As the shift drum assembly 28500 rotates, the locksleeve 28402 also rotates such that the inwardly-facing lock protrusions28404 therein disengage the intermediate firing member 28222. See FIG.90. When in that position, a distal pushing force and/or a proximalpulling force is not transmitted from the intermediate firing member28222 to the lock sleeve 28402. When lock sleeve 28402 is in itsdisengaged position, movement of the intermediate firing member 28222 isnot transmitted to the proximal articulation driver 29102 and, as aresult, the intermediate firing member 28222 can move independently ofthe proximal articulation driver 29102. In various circumstances, theproximal articulation driver 29102 can be held in position by anarticulation lock of the type disclosed in U.S. patent application Ser.No. 13/803,086, filed Mar. 14, 2013, entitled ARTICULATABLE SURGICALINSTRUMENT COMPRISING AN ARTICULATION LOCK, the entire disclosure ofwhich has been herein incorporated by reference as well as other lockarrangements disclosed herein.

Returning to FIG. 86, in the illustrated example, a proximal end portion29012 of the spine shaft 29010 may be rotatably supported within thechassis 28240 by a spine bearing assembly 29020. The shaft assembly28200 may also include a slip ring assembly 29600 which can beconfigured to conduct electrical power to and/or from the end effectorand/or communicate signals to and/or from the end effector, for example.The slip ring assembly 29600 can comprise a proximal connector flange29604 that is mounted to a chassis flange 28242 that extends from thechassis 26240. The slip ring assembly 29600 further includes a distalconnector flange 29620 that is positioned within a slot defined in thenozzle assembly 28201 or is otherwise mounted therein. The proximalconnector flange 29604 can comprise a first face 29605 and the distalconnector flange 29620 can comprise a second face 29622 which ispositioned adjacent to and movable relative to the first face 29605. SeeFIGS. 88 and 89. The distal connector flange 29620 can rotate relativeto the proximal connector flange 29604 about a shaft axis SA with thenozzle assembly 28201 as was described above. The proximal connectorflange 29604 can comprise a plurality of concentric, or at leastsubstantially concentric, conductors 29606 defined in the first face29505 thereof. A connector 29700 is mounted on the second face 29622 ofthe distal connector flange 29620 and may have a plurality of contactswherein each contact corresponds to and is in electrical contact withone of the conductors 29606. Such an arrangement permits relativerotation between the distal connector flange 29620 and the proximalconnector flange 29604 while maintaining electrical contacttherebetween. The proximal connector flange 29604 communicates with anelectrical connector 29608 which can place the conductors 29606 insignal communication with a shaft circuit board (not shown) mounted tothe shaft chassis 28240, for example. Further details regarding slipring assemblies may be found in U.S. patent application Ser. No.13/803,086, U.S. patent application Ser. No. 13/800,067, entitled STAPLECARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, andU.S. Pat. No. 9,345,481, entitled STAPLE CARTRIDGE TISSUE THICKNESSSENSOR SYSTEM, for example. The various flexible circuit arrangementsdisclosed herein may be used to transmit signals from the electricalconnector 29608 and sensors/components associated with the surgical endeffector and/or articulation joint. In addition, a sensor 29630 may bemounted to the proximal connector flange 29604 and be configured todetect the position of a corresponding sensor lug 28505 formed on theshift drum flange 28504. The sensor 29630 may comprise, for example, aHall Effect sensor and the sensor lug 28505 may support a magnet 28507.The sensor 29630 is configured to detect the position of the magnet28507 and communicates that information to the control circuit throughthe slip ring assembly 29600, for example.

Many of the surgical instrument systems described herein are motivatedby an electric motor; however, the surgical instrument systems describedherein can be motivated in any suitable manner. In various instances,the surgical instrument systems described herein can be motivated by amanually-operated trigger, for example. In certain instances, the motorsdisclosed herein may comprise a portion or portions of a roboticallycontrolled system. Moreover, any of the end effectors and/or toolassemblies disclosed herein can be utilized with a robotic surgicalinstrument system. U.S. patent application Ser. No. 13/118,241, entitledSURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example, disclosesseveral examples of a robotic surgical instrument system in greaterdetail.

The surgical instrument systems described herein have been described inconnection with the deployment and deformation of staples; however, theembodiments described herein are not so limited. Various embodiments areenvisioned which deploy fasteners other than staples, such as clamps ortacks, for example. Moreover, various embodiments are envisioned whichutilize any suitable means for sealing tissue. For instance, an endeffector in accordance with various embodiments can comprise electrodesconfigured to heat and seal the tissue. Also, for instance, an endeffector in accordance with certain embodiments can apply vibrationalenergy to seal the tissue.

The entire disclosures of:

-   -   U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC        DEVICE, which issued on Apr. 4, 1995;    -   U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT        HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which        issued on Feb. 21, 2006;    -   U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING        AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which        issued on Sep. 9, 2008;    -   U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL        INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS,        which issued on Dec. 16, 2008;    -   U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN        ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;    -   U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS,        which issued on Jul. 13, 2010;    -   U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE        IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013;    -   U.S. patent application Ser. No. 11/343,803, entitled SURGICAL        INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No.        7,845,537;    -   U.S. patent application Ser. No. 12/031,573, entitled SURGICAL        CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed        Feb. 14, 2008;    -   U.S. patent application Ser. No. 12/031,873, entitled END        EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed        Feb. 15, 2008, now U.S. Pat. No. 7,980,443;    -   U.S. patent application Ser. No. 12/235,782, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No.        8,210,411;    -   U.S. patent application Ser. No. 12/235,972, entitled MOTORIZED        SURGICAL INSTRUMENT, now U.S. Pat. No. 9,050,083.    -   U.S. patent application Ser. No. 12/249,117, entitled POWERED        SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY        RETRACTABLE FIRING SYSTEM, now U.S. Pat. No. 8,608,045;    -   U.S. patent application Ser. No. 12/647,100, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR        DIRECTIONAL CONTROL ASSEMBLY, filed Dec. 24, 2009, now U.S. Pat.        No. 8,220,688;    -   U.S. patent application Ser. No. 12/893,461, entitled STAPLE        CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;    -   U.S. patent application Ser. No. 13/036,647, entitled SURGICAL        STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No.        8,561,870;    -   U.S. patent application Ser. No. 13/118,241, entitled SURGICAL        STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT        ARRANGEMENTS, now U.S. Pat. No. 9,072,535;    -   U.S. patent application Ser. No. 13/524,049, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE,        filed on Jun. 15, 2012, now U.S. Pat. No. 9,101,358;    -   U.S. patent application Ser. No. 13/800,025, entitled STAPLE        CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,        2013, now U.S. Pat. No. 9,345,481;    -   U.S. patent application Ser. No. 13/800,067, entitled STAPLE        CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,        2013, now U.S. Patent Application Publication No. 2014/0263552;    -   U.S. Patent Application Publication No. 2007/0175955, entitled        SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER        LOCKING MECHANISM, filed Jan. 31, 2006; and    -   U.S. Patent Application Publication No. 2010/0264194, entitled        SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR,        filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby        incorporated by reference herein.

Although various devices have been described herein in connection withcertain embodiments, modifications and variations to those embodimentsmay be implemented. Particular features, structures, or characteristicsmay be combined in any suitable manner in one or more embodiments. Thus,the particular features, structures, or characteristics illustrated ordescribed in connection with one embodiment may be combined in whole orin part, with the features, structures or characteristics of one oremore other embodiments without limitation. Also, where materials aredisclosed for certain components, other materials may be used.Furthermore, according to various embodiments, a single component may bereplaced by multiple components, and multiple components may be replacedby a single component, to perform a given function or functions. Theforegoing description and following claims are intended to cover allsuch modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, a device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the stepsincluding, but not limited to, the disassembly of the device, followedby cleaning or replacement of particular pieces of the device, andsubsequent reassembly of the device. In particular, a reconditioningfacility and/or surgical team can disassemble a device and, aftercleaning and/or replacing particular parts of the device, the device canbe reassembled for subsequent use. Those skilled in the art willappreciate that reconditioning of a device can utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

The devices disclosed herein may be processed before surgery. First, anew or used instrument may be obtained and, when necessary, cleaned. Theinstrument may then be sterilized. In one sterilization technique, theinstrument is placed in a closed and sealed container, such as a plasticor TYVEK bag. The container and instrument may then be placed in a fieldof radiation that can penetrate the container, such as gamma radiation,x-rays, and/or high-energy electrons. The radiation may kill bacteria onthe instrument and in the container. The sterilized instrument may thenbe stored in the sterile container. The sealed container may keep theinstrument sterile until it is opened in a medical facility. A devicemay also be sterilized using any other technique known in the art,including but not limited to beta radiation, gamma radiation, ethyleneoxide, plasma peroxide, and/or steam.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdo not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

1. A method for operating a surgical instrument, said method comprising:providing a surgical instrument, comprising: a surgical end effector; afirst drive member configured to apply first actuation motions to thesurgical end effector; a second drive member configured to apply secondactuation motions to the surgical end effector; and a first drive systemconfigured to apply first control motions to the first drive member andwherein said method further comprises: linking the second drive memberto the first drive member such that the second drive member moves withthe first drive member; actuating the first drive system to apply afirst amount of the first control motions to the first drive member tocause the second drive member to apply the second actuation motions tothe surgical end effector; de-actuating the first drive system;de-linking the second drive member from the first drive member such thatthe second drive member is locked in place by a locking system locatedin a proximal portion of the surgical instrument and the first drivemember is movable relative to the second drive member; and re-actuatingthe first drive system to apply another amount of the first controlmotions to the first drive member to apply the first actuation motionsto the surgical end effector. 2-17. (canceled)
 18. A method of operatinga surgical instrument, wherein the surgical instrument comprises asurgical end effector comprising a first jaw and a second jaw, whereinthe second jaw is movable relative to the first jaw about a fixed pivotaxis between an open position and a fully closed position, and whereinsaid method comprises: manipulating the surgical end effector toposition a target tissue between the second jaw and the first jaw;applying an amount of closure motion to the second jaw to cause thesecond jaw to compress the target tissue between the second jaw and thefirst jaw; and adjusting the amount of closure motion applied to thesecond jaw to overcome a closure resistance force applied to the secondjaw by the target tissue during compression of the target tissue to movethe second jaw to the fully closed position.
 19. The method of claim 18,wherein the closure resistance force changes to another closureresistance force as the second jaw approaches the fully closed position,and wherein said adjusting the amount of closure motion comprisesfurther adjusting the amount of closure motion applied the second jaw toovercome the another closure resistance force to move the second jaw tothe fully closed position.
 20. The method of claim 19, wherein theanother closure resistance force is greater than the closure resistanceforce.
 21. The method of claim 19, wherein said applying the amount ofclosure motion to the second jaw comprises compressing a first springconfigured to apply a first amount of the closure motion to the secondjaw.
 22. The method of claim 21, wherein said compressing the firstspring comprises axially advancing a closure member into cammingengagement with the second jaw to apply the first amount of closuremotion thereto such that the first spring is compressed by the closuremember as the closure resistance force increases to the another closureresistance force.
 23. The method of claim 22, wherein the closure membercomprises a proximal end movably supported in an axially movable closureshuttle, wherein the first spring is interposed between the proximal endof the closure member and a portion of the axially movable closureshuttle, and wherein said axially advancing the closure member comprisesaxially advancing the closure shuttle to axially advance the closuremember.
 24. The method of claim 23, wherein said axially advancing theclosure shuttle to axially advance the closure member comprises axiallymoving the closure shuttle from an unactuated position to an actuatedposition.
 25. The method of claim 24, wherein the method furthercomprises: locking the closure shuttle in the actuated position; andaxially moving a firing member through the surgical end effector from astarting position corresponding to the open position of the second jawto an ending position within the surgical end effector to applyadditional closure motions to the second jaw.
 26. The method of claim25, wherein the firing member is configured to cut the target tissue asthe firing member moves from the starting position to the endingposition.
 27. The method of claim 25, further comprising: retracting thefiring member from the ending position to the starting position; andreturning the closure shuttle to the unactuated position.
 28. The methodof claim 24, wherein said axially moving the closure shuttle from theunactuated position to the actuated position comprises compressing asecond spring, and wherein said returning the closure shuttle to theunactuated position comprises unlocking the closure shuttle to permitthe second spring to bias the closure shuttle to the unactuatedposition.
 29. A method of cutting and stapling a target tissue, whereinsaid method comprises: moving an anvil of a surgical stapler endeffector about a fixed pivot axis to an open position relative to astaple cartridge installed in the surgical stapler end effector;manipulating the surgical stapler end effector to position the targettissue between the anvil and the staple cartridge; applying an amount ofclosure force to the anvil to cause the anvil to compress the targettissue between the anvil and the staple cartridge; adjusting the amountof closure force applied to the anvil to overcome a closure resistanceforce applied to the anvil by the target tissue during compression ofthe target tissue to move the anvil to a fully closed position; lockingthe anvil in the fully closed position; axially moving a firing membercomprising a tissue cutting feature from a starting position to anending position within the surgical stapler end effector to cut throughthe target tissue and drive staples within the staple cartridge intoforming contact with an underside of the anvil; returning the firingmember to the starting position; unlocking the anvil; and returning theanvil to the open position to release the target tissue from thesurgical stapler end effector.
 30. The method of claim 29, wherein theclosure resistance force changes to another closure resistance force asthe anvil moves from the open position to the fully closed position, andwherein said adjusting the amount of closure force comprises furtheradjusting the amount of closure force applied the anvil to overcome theanother closure resistance force and move to the fully closed position.31. The method of claim 30, wherein said further adjusting the closureforce comprises increasing the amount of closure force applied to theanvil.
 32. The method of claim 30, wherein said further adjusting theclosure force comprises reducing the amount of closure force applied tothe anvil.
 33. The method of claim 29, wherein said applying the amountof closure force to the anvil comprises compressing a first springconfigured to apply a first amount of the closure force to the anvil.34. The method of claim 33, wherein said compressing the first springcomprises axially advancing a closure member into camming engagementwith the anvil to apply the first amount of closure force thereto suchthat the first spring is compressed by the closure member as the closureresistance force increases to the another closure resistance force. 35.The method of claim 34, wherein the closure member comprises a proximalend movably supported in an axially movable closure shuttle, wherein thefirst spring is interposed between the proximal end of the closuremember and a portion of the axially movable closure shuttle, and whereinsaid axially advancing the closure member comprises axially advancingthe closure shuttle to axially advance the closure member.
 36. Themethod of claim 35, wherein said axially advancing the closure shuttleto axially advance the closure member comprises axially moving theclosure shuttle from an unactuated position to an actuated position. 37.The method of claim 36, wherein said axially moving the closure shuttlefrom the unactuated position to the actuated position comprisescompressing a second spring, and wherein said returning the closureshuttle to the unactuated position comprises unlocking the closureshuttle to permit the second spring to bias the closure shuttle to theunactuated position.